Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:functions [2021/06/09 09:39] – [Special fuction useful for 3D geometric calculations] oliver
+++ modellingcomponents:functions [2021/09/28 15:52] – [normalize()] oliver
@@ Zeile 233: / Zeile 233: @@
    dist(A,B)
+==== ddist() ====
+Directed distance between two points.
+The first two arguments define the start point and the end point of a vector. The distance of the two points is calculated. The third argument defines a vector. If the vector defined by the first two points and this reference vector includes an angle less-90 or more than 90 degree than the result is negative else positive.
+Types:
+^ Argument 1 ^ Argument 2 ^ Argument 3 ^ Result ^
+| 3d vector | 3d vector | 3d vector | double |
+=== Examples ===
+   ddist(A,B, ref)
 ==== vec() ====
@@ Zeile 295: / Zeile 309: @@
 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  ^ Result ^
+^ Argument ^ Type ^ Description^
-| 3d vector | real |
+^ 1 | 3d vector | Normalize the vector. |
 ==== mid() ====
@@ Zeile 327: / Zeile 341: @@
 ^ 4 | Direction to define the second line | VECTOR_3D |
-==== pocL() ====
+==== PocL() ====
 Point of contact straight line: The first two arguments define a straight line. The first is a point on this line and the second defines the direction of the line. A perpendicular is dropped from the point defined by the third point to this line and the result value is the point of contact in the straight line.
@@ Zeile 341: / Zeile 355: @@
    pocL(A,B,C)
 </code>
-==== pocP() ====
+==== PocP() ====
 Point of contact plane: The first two arguments define a plane. The first is a point in this plane and the second defines the direction of a normal to this plane. A perpendicular is dropped from the point defined by the third point to this plane and the result value is the point of contact in the plane.
@@ Zeile 353: / Zeile 367: @@
 <code>
-   pocP(A,B,C)
+   PocP(A,B,C)
 </code>
@@ Zeile 465: / Zeile 479: @@
 ==== t() ====
 ==== 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] |
+<code>
+   R(TCPQ,0,1,2)
+</code>
+===== Robotics functions =====
+==== mdho() ====
+Determines the Origin of a coordinate based on the modified Denavit-Hartenberg convention.
+**Arguments:**
+^ Argument ^ Type ^ Description ^
+^ 1 | VECTOR_3D | Origin the previous coordinate system |
+^ 2 | VECTOR_3D | Direction of the previous joint axis |
+^ 3 | REAL| Displacement on the previous joint axis of the origin. Typically this is 0. |
+^ 4 | VECTOR_3D | Point on the joint axis where the origin should be determined |
+^ 5 | VECTOR_3D | Direction ofthe joint axis where the origin should be determined |
+=== Examples ===
+<code>
+   mdhO(o1,v1,0.0,o2,v2)
+</code>
+==== 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 ===
+<code>
+   dhm(theta1, alpha1, d1, r1)
+</code>