Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:functions [2021/06/16 09:11] – [ddist()] oliver
+++ modellingcomponents:functions [2021/11/09 11:22] (aktuell) – [norm()] oliver
@@ Zeile 304: / Zeile 304: @@
 ==== 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() ====
 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 317: / Zeile 321: @@
 Extracts the x/first-component of a 3d-vector.
+^ Argument ^ Type ^ Description^
+^ 1 | 3d vector | extracts the x-component auf a 3d vector. |
 ==== y() ====
+^ Argument ^ Type ^ Description^
+^ 1 | 3d vector | extracts the y-component auf a 3d vector. |
 ==== z() ====
+^ Argument ^ Type ^ Description^
+^ 1 | 3d vector | extracts the z-component auf a 3d vector. |
 ==== q() ====
 Create a quaternion from 4 double values.
@@ Zeile 355: / Zeile 368: @@
    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 367: / Zeile 380: @@
 <code>
-   pocP(A,B,C)
+   PocP(A,B,C)
 </code>
@@ Zeile 479: / Zeile 492: @@
 ==== 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>