实时控制软件设计 第二次作业 myRobot

#include<iostream>
#include <Eigen/Dense>
#include <math.h>
#include <vector>
using namespace std;
using namespace Eigen;
using Eigen::MatrixXd;
const double Dk=3.1415926/;

//定义Frame（二维笛卡尔坐标系）类
class Frame{
private:
double Ox;
double Oy;//Frame对象在WF(世界坐标系)下的原点坐标
double Angle;//方位角(弧度制)
public:
Frame();
Frame(double ox,double oy,double an);
MatrixXd CalPose();//获得齐次位姿矩阵
};
Frame::Frame() {
Ox=;Oy=;Angle=;
}
Frame::Frame(double ox,double oy,double an){
Ox=ox;Oy=oy;Angle=an*Dk;//输入为角度制
}
MatrixXd Frame::CalPose(){
MatrixXd Pose(,);
Pose(,)=cos(Angle);Pose(,)=-sin(Angle);Pose(,)=Ox;
Pose(,)=sin(Angle);Pose(,)=cos(Angle);Pose(,)=Oy;
Pose(,)=;Pose(,)=;Pose(,)=;
return Pose;
}//由原点和方位角计算位姿矩阵
//Frame定义结束

//定义Solver（运动学求解器）类
class Solver{
private:
vector<Frame> frameVec;
public:
MatrixXd CalTheta(double l1,double l2,Frame frame,double px,double py);//运动学反解
void addFrame(Frame frame);//添加任务框
void deleteFrame();    //移除任务框
};
MatrixXd Solver::CalTheta(double l1,double l2,Frame frame,double px,double py) {
MatrixXd P_task(,),P_world(,),T(,);
P_task(,)=px;P_task(,)=py;P_task(,)=;
P_world=frame.CalPose()*P_task;
T(,)=acos((px*px+py*py-l1*l1-l2*l2)//l1/l2);//取0°到180°
double beta=atan2(py,px);
double lp=sqrt(px*px+py*py);//端点模值
double fea=acos((lp*lp+l1*l1-l2*l2)//l1/lp);
T(,)=beta-fea;
return T;
}
void Solver::addFrame(Frame frame) {
frameVec.push_back(frame);
}
void Solver::deleteFrame() {
frameVec.pop_back();
}
//Solver类定义结束

//定义Robot类
class Robot{
public:
double L1;
double L2;//臂长
double theta1;
double theta2;//SCARA关节变量 （弧度角） 

Robot();
Robot(double l1,double l2,double t1,double t2);
Vector2d getTerminal();//手臂末端的世界坐标（笛卡尔坐标） ，正运动学计算
void ShowState();//状态显示
void PTPmove(Frame frame,double px,double py);//点到点运动 

};
Robot::Robot() {
L1=;L2=;theta1=;theta2=;
};
Robot::Robot(double l1,double l2,double t1,double t2){
L1=l1;L2=l2;theta1=t1*Dk;theta2=t2*Dk;//输入为角度制角
}
Vector2d Robot::getTerminal() {
double Tx,Ty;
Tx=L1*cos(theta1)+L2*cos(theta1+theta2);
Ty=L1*sin(theta1)+L2*sin(theta1+theta2);
Vector2d T(Tx,Ty);
return T;
}
void Robot::ShowState(){
cout<<"theta1="<<theta1/Dk<<endl<<"theta2="<<theta2/Dk<<endl;
}
void Robot::PTPmove(Frame frame,double px,double py){
Solver solver;
MatrixXd T(,);
T=solver. CalTheta(L1,L2,frame,px,py);
theta1=T(,);theta2=T(,);
}
//Robot定义结束

int main(){
Robot myRobot(,,,);//构造Robot对象
Frame TF1(,,),TF2(-,,),TF3(0.5,1.5,);//定义任务坐标系
myRobot.ShowState();
myRobot.PTPmove(TF1,,);
myRobot.ShowState();
myRobot.PTPmove(TF2,,);
myRobot.ShowState();
return ;
}