modellingcomponents:functions
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungNächste ÜberarbeitungBeide Seiten der Revision | ||
modellingcomponents:functions [2021/07/08 09:43] – [mdHO()] oliver | modellingcomponents:functions [2021/09/28 15:51] – [normalize()] oliver | ||
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If the argument is a tuple with 3 elements, it is interpreted as a vector and the result is the normalized vector (length of the vector is set to 1). | If the argument is a tuple with 3 elements, it is interpreted as a vector and the result is the normalized vector (length of the vector is set to 1). | ||
- | ^ Argument | + | ^ Argument |
- | | 3d vector | real | | + | | 3d vector | Normalize the vector. |
==== mid() ==== | ==== mid() ==== | ||
Zeile 479: | Zeile 479: | ||
==== t() ==== | ==== t() ==== | ||
==== mat4() ==== | ==== mat4() ==== | ||
+ | |||
+ | ==== R() ==== | ||
+ | |||
+ | Get a double component from a matrix defined by row and column index. | ||
+ | |||
+ | **Arguments: | ||
+ | |||
+ | ^ Argument ^ Type ^ Description ^ | ||
+ | ^ 1 | MATRIX_3X3D | Matrix to get double components from. | | ||
+ | ^ 2 | INTEGER| row [0|1|2] | | ||
+ | ^ 3 | INTEGER| column [0|1|2] | | ||
+ | |||
+ | < | ||
+ | | ||
+ | </ | ||
===== Robotics functions ===== | ===== Robotics functions ===== | ||
- | ==== mdhO() ==== | + | ==== mdho() ==== |
Determines the Origin of a coordinate based on the modified Denavit-Hartenberg convention. | Determines the Origin of a coordinate based on the modified Denavit-Hartenberg convention. | ||
Zeile 496: | Zeile 511: | ||
< | < | ||
| | ||
+ | </ | ||
+ | ==== dhm() ==== | ||
+ | Determines the 4x4 Matrix of the Denavit Hartenberg convention based the DH parameters. | ||
+ | |||
+ | **Arguments: | ||
+ | |||
+ | ^ Argument ^ Type ^ Description ^ | ||
+ | ^ 1 | REAL| theta | | ||
+ | ^ 2 | REAL| alpha | | ||
+ | ^ 3 | REAL| d | | ||
+ | ^ 4 | REAL| r | | ||
+ | |||
+ | |||
+ | === Examples === | ||
+ | |||
+ | < | ||
+ | | ||
</ | </ |
modellingcomponents/functions.txt · Zuletzt geändert: 2021/11/09 11:22 von oliver