Nimue platform

Benutzer-Werkzeuge

Webseiten-Werkzeuge

Zuletzt angesehen:
modellingcomponents:functions

Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

Link zu dieser Vergleichsansicht

Beide Seiten der vorigen RevisionVorhergehende Überarbeitung
Nächste Überarbeitung		Vorhergehende Überarbeitung
modellingcomponents:functions [2020/07/08 17:54] – [normalize()] olivermodellingcomponents:functions [2021/11/09 11:22] (aktuell) – [norm()] oliver
Zeile 233: Zeile 233:
  
    dist(A,B)    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() ==== ==== vec() ====
  
-This named function bundles the three double arguments to a 3d vector result value.+This named function bundles the three double arguments to a 3d tuple result value. Typically this in interpreted as a vector.
  
 Types: Types:
Zeile 290: Zeile 304:
  
 ==== norm() ==== ==== norm() ====
 +Creates the normal vector of a plane based on three given points laying in the plane 
 +^ Argument ^ Type ^ Description^ 
 +^ 1 | 3d vector | first point of a plane| 
 +^ 2 | 3d vector | seconds point of a plane | 
 +^ 3 | 3d vector | third point of a plane |
 ==== normalize() ==== ==== normalize() ====
  
 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  ^ Result ^ +^ Argument ^ Type ^ Description^ 
-| 3d vector | real |+^ 1 | 3d vector | Normalize the vector. |
  
 ==== mid() ==== ==== mid() ====
Zeile 303: Zeile 321:
  
 Extracts the x/first-component of a 3d-vector. Extracts the x/first-component of a 3d-vector.
 +
 +^ Argument ^ Type ^ Description^
 +^ 1 | 3d vector | extracts the x-component auf a 3d vector. |
  
  
 ==== y() ==== ==== y() ====
 +
 +^ Argument ^ Type ^ Description^
 +^ 1 | 3d vector | extracts the y-component auf a 3d vector. |
 ==== z() ==== ==== z() ====
 +
 +^ Argument ^ Type ^ Description^
 +^ 1 | 3d vector | extracts the z-component auf a 3d vector. |
 ==== q() ==== ==== q() ====
-===== Special fuction useful for 3D geometric calculations =====+Create a quaternion from 4 double values.
  
-==== pocL() ====+^ Argument ^ Type ^ Description ^ 
 +^ 1 | Double | x | 
 +^ 2 | Double | y | 
 +^ 3 | Double | z | 
 +^ 4 | Double | w | 
 +===== Special functions useful for 3D geometric calculations =====
  
-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.+==== poc() ====
  
-**Types:**+Determines a point on the line defined by the first two arguments (P0 and n0) which has the shortest distance to the line defined by the third and fourth arguments (P1,n1).
  
-^ Argument 1 ^ Argument 2 ^ Argument 3 ^ Result ^ +^ Argument ^ Description ^ Type ^ 
-| 3d vector | 3d vector | 3d vector | 3d vector |+^ 1 | Point to define the first line | VECTOR_3D | 
 +^ 2 | Direction to define the first line | VECTOR_3D | 
 +^ 3 | Point to define the second line | VECTOR_3D | 
 +^ 4 | Direction to define the second line | VECTOR_3D |
  
-**Arguments:**+==== PocL() ====
  
-^ Argument ^ Description ^ +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. 
-^ 1 | Point to define a line | + 
-^ 2 | Direction to define a line | +^ Argument ^ Description ^ Type ^ 
-^ 3 | Point to start a second line perpendicular to the line defined by the first two arguments. |+^ 1 | Point to define a line. | VECTOR_3D | 
 +^ 2 | Direction to define a line. | VECTOR_3D | 
 +^ 3 | Point to start a second line perpendicular to the line defined by the first two arguments. | VECTOR_3D |
  
 === Examples === === Examples ===
  
 +<code>
    pocL(A,B,C)    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 plan. 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.+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.
  
-**Types:**+^ Argument ^ Description ^ Type ^  
 +^ 1 | Point to define a plane the point lays in.| VECTOR_3D | 
 +^ 2 | Normal vector of the plane (direction perpendicular to the plane to define)| VECTOR_3D | 
 +^ 3 | Point to start a line perpendicular to the plane defined by the first two arguments. | VECTOR_3D |
  
-^ Argument 1 ^ Argument 2 ^ Argument 3 ^ Result ^ +=== Examples ===
-| 3d vector | 3d vector | 3d vector | 3d vector |+
  
-**Arguments:** +<code> 
- +   PocP(A,B,C) 
-^ Argument ^ Description ^ +</code> 
-^ 1 | Point to define a plane the point lays in.| +
-^ 2 | Direction of a perpendicular to the plane to define.| +
-^ 3 | Point to start a line perpendicular to the plane defined by the first two arguments. | +
- +
-==== pocP() ====+
  
 ==== midP() ==== ==== midP() ====
Zeile 355: Zeile 390:
  
 ^ Argument ^ Type ^ Description ^ ^ Argument ^ Type ^ Description ^
-^ 1 | Vector 3d | Point to define a the first line. | +^ 1 | VECTOR_3D | Point to define a the first line. | 
-^ 2 | Vector 3d | Direction to define the first line. | +^ 2 | VECTOR_3D | Direction to define the first line. | 
-^ 3 | Vector 3d | Point to define a the second line. | +^ 3 | VECTOR_3D | Point to define a the second line. | 
-^ 4 | Vector 3d | Direction to define the second line. |+^ 4 | VECTOR_3D | Direction to define the second line. | 
 + 
 +==== PocPL() ==== 
 + 
 +Determines the point in the plane the arrow brakes through the plane. 
 + 
 +**Arguments:** 
 + 
 +^ Argument ^ Type ^ Description ^ 
 +^ 1 | VECTOR_3D | Arbitrary point in a plane. | 
 +^ 2 | VECTOR_3D | Normal vector of the plane (normalization not needed). | 
 +^ 3 | VECTOR_3D | Point to define arrow. | 
 +^ 4 | VECTOR_3D | Direction of the arrow (normalization not needed). | 
 + 
 +=== Examples ===
  
 +<code>
 +   pocPL(A,B,C,D)
 +</code> 
 ===== Special functions useful for human motion analysis ===== ===== Special functions useful for human motion analysis =====
 ==== chordv() ==== ==== chordv() ====
Zeile 405: Zeile 457:
 ^ J | top joint position | ^ J | top joint position |
 ^ K | stick marker position | ^ K | stick marker position |
 +
 +=== Examples ===
 +
 +<code>
 +   chordv(70.5,I,J,K)
 +</code> 
 ==== chordv2() ==== ==== chordv2() ====
  
Zeile 421: Zeile 479:
 ^ offset | offset angle | ^ offset | offset angle |
 ===== Matrix manipulation functions ===== ===== Matrix manipulation functions =====
- 
-==== mat() ==== 
  
 ==== matq() ==== ==== matq() ====
 +Create a matrix from a quaternion.
 +
 +^ Argument ^ Type ^ Description ^
 +^ 1 | Double | x |
 +^ 2 | Double | y |
 +^ 3 | Double | z |
 +^ 4 | Double | w |
 +==== mat() ====
  
 ==== t() ==== ==== 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> 
modellingcomponents/functions.1594223648.txt.gz · Zuletzt geändert: 2020/07/08 17:54 von oliver
Donate Powered by PHP Valid HTML5 Valid CSS Driven by DokuWiki