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trajectory.c
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trajectory.c
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#include "trajectory.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
double pi = 3.1415926;
double d3 = 310.5;
double d4 = 310;
double dend = 270;
double Tool_Position[3] = {0.0, 0.0, 270.0};
double sqrt3c2 = 0.8660254037844;
double Minimum_Value = 1e-6;
//int i=0;
//单位向量
int UnitVector(double vec[3],double unitvec[3])
{
int i=0;
double length = 0;
for(i=0;i<3;i++)
length = length + vec[i]*vec[i];
length = sqrt(length);
for(i=0;i<3;i++)
unitvec[i] = vec[i]/length;
return 0;
}
//向量叉乘
void cross(double in1[3], double in2[3], double out[3])
{
out[0] = in1[1]*in2[2] - in1[2]*in2[1];
out[1] = in1[2]*in2[0] - in1[0]*in2[2];
out[2] = in1[0]*in2[1] - in1[1]*in2[0];
return;
}
// 新矩阵相乘
void matrix_multiply(double in1[4][4], double in2[4][4], double out[4][4])
{
int i, j;
for (i = 0; i < 4; i++)
{
for (j = 0; j < 4; j++)
{
out[i][j] = in1[i][0]*in2[0][j] + in1[i][1]*in2[1][j] + in1[i][2]*in2[2][j] + in1[i][3]*in2[3][j];
// printf("out[%d][%d]=%f in1=%f in2= %f\n", i,j,out[i][j], in1[i][j], in2[i][j]);
}
}
}
// 新矩阵求逆
void inv_matrix(double in[4][4], double out[4][4])
{
int i, j;
// double temp[3][3];
for(i=0; i<3; i++)
{
for (j=0; j<3; j++)
{
out[i][j] = in[j][i];
// temp[i][j] = in[i][i];
}
}
for(i=0; i<3; i++)
{
out[i][3] = -(out[i][0]*in[0][3] + out[i][1]*in[1][3] + out[i][2]*in[2][3]);
}
out[3][0] = 0.0;
out[3][1] = 0.0;
out[3][2] = 0.0;
out[3][3] = 1.0;
}
double Five_Interpolation(double x0,double v0,double a0,double x1,double v1,double a1,double tf, double t)
{
double aa0 = 0.0;
double aa1 = 0.0;
double aa2 = 0.0;
double aa3 = 0.0;
double aa4 = 0.0;
double aa5 = 0.0;
double out = 0.0;
aa0 = x0;
aa1 = v0;
aa2 = a0/2.0;
aa3 = (20.0*x1 - 20.0*x0 - (8.0*v1+12.0*v0)*tf - (3.0*a0-a1)*tf*tf)/(2.0*tf*tf*tf);
aa4 = (30.0*x0 - 30.0*x1 + (14.0*v1 + 16.0*v0)*tf + (3.0*a0-2.0*a1)*tf*tf)/(2.0*tf*tf*tf*tf);
aa5 = (12.0*x1 - 12.0*x0 - (6.0*v1+6.0*v0)*tf - (a0-a1)*tf*tf)/(2.0*tf*tf*tf*tf*tf);
out = aa0 + aa1*t + aa2*t*t + aa3*t*t*t + aa4*t*t*t*t + aa5*t*t*t*t*t;
if(t>=tf) out = x1;
return out;
}
double parabolic_interpolation(double x0, double xf, double vb, double acc, double t)
{
double out, t_total, tb, pb, pb2, tb2, t1, delta_x, vb2;
if(xf < x0)
{
acc = -acc;
vb = -vb;
}
delta_x = fabs(vb*vb / acc);
if(fabs(xf - x0) >= delta_x)
{
t1 = (xf - x0 - vb*vb/acc)/vb;
tb = vb/acc;
pb = 0.5*acc*tb*tb;
pb2 = pb + vb*t1;
t_total = 2.0*tb + t1;
tb2 = t_total - tb;
vb2= vb;
}
else
{
t1 = 0.0;
tb = sqrt((xf -x0)/acc);
pb = 0.5*acc*tb*tb;
pb2 = pb;
t_total = 2.0*tb + t1;
tb2 = t_total - tb;
vb2 = acc*tb;
}
// printf("tb=%f, t1=%f, pb=%f, pb2=%f, t_total= %f, tb2=%f\n", tb, t1, pb, pb2, t_total, tb2);
// vb = acc*tb;
if(t < tb)
{
out = 0.5*acc*t*t + x0;
}
else if(t < tb2)
{
out = pb + vb2*(t - tb) + x0;
}
else
{
out = pb2 + vb2*(t-tb2) - 0.5*acc*(t - tb2)*(t - tb2) + x0;
}
return out;
}
double parabolic_interpolation_time(double x0, double xf, double vb, double acc)
{
double out, t_total, tb, pb, pb2, tb2, t1, delta_x;
if(xf < x0)
{
acc = -acc;
vb = -vb;
}
delta_x = fabs(vb*vb / acc);
if(fabs(xf - x0) >= delta_x)
{
t1 = (xf - x0 - vb*vb/acc)/vb;
tb = vb/acc;
}
else
{
t1 = 0.0;
tb = sqrt((xf -x0)/acc);
}
t_total = 2.0*tb + t1;
return t_total;
}
struct Cubic_Struct cubic[14];
int cubicAddPoint(int index, double point)
{
if (cubic[index].needNextPoint == 0)
{
return -1;
}
if (cubic[index].filled == 0)
{
cubic[index].x0 = point;
cubic[index].x1 = point;
cubic[index].x2 = point;
cubic[index].x3 = point;
cubic[index].filled = 1;
}
else
{
cubic[index].x0 = cubic[index].x1;
cubic[index].x1 = cubic[index].x2;
cubic[index].x2 = cubic[index].x3;
cubic[index].x3 = point;
}
cubic[index].wp0 = (cubic[index].x0 + 4*cubic[index].x1 + cubic[index].x2)/6.0;
cubic[index].wp1 = (cubic[index].x1 + 4*cubic[index].x2 + cubic[index].x3)/6.0;
cubic[index].vel0 = (cubic[index].x2 - cubic[index].x0)/(2.0*cubic[index].segmentTime);
cubic[index].vel1 = (cubic[index].x3 - cubic[index].x1)/(2.0*cubic[index].segmentTime);
cubic[index].coeffd = cubic[index].wp0;
cubic[index].coeffc = cubic[index].vel0;
cubic[index].coeffb = 3*(cubic[index].wp1 - cubic[index].wp0)/cubic[index].segmentTime/cubic[index].segmentTime - (2*cubic[index].vel0 + cubic[index].vel1)/cubic[index].segmentTime;
cubic[index].coeffa = (cubic[index].vel1 - cubic[index].vel0)/(3*cubic[index].segmentTime*cubic[index].segmentTime) - (2*cubic[index].coeffb)/(3*cubic[index].segmentTime);
cubic[index].interpolationTime = 0;
cubic[index].needNextPoint = 0;
return 1;
}
double cubicInterpolate(int index)
{
if (cubic[index].needNextPoint == 1)
{
cubicAddPoint(index, cubic[index].x3);
}
cubic[index].interpolationTime = cubic[index].interpolationTime + cubic[index].interpolationIncrement;
if (fabs(cubic[index].segmentTime - cubic[index].interpolationTime)<0.5*cubic[index].interpolationIncrement)
{
cubic[index].needNextPoint = 1;
}
double out = 0.0;
out = cubic[index].coeffa*cubic[index].interpolationTime*cubic[index].interpolationTime*cubic[index].interpolationTime + cubic[index].coeffb*cubic[index].interpolationTime*cubic[index].interpolationTime + cubic[index].coeffc*cubic[index].interpolationTime + cubic[index].coeffd;
// if(index == 0)
// printf("cubictime = %f out = %f\n", cubic[index].interpolationTime, out);
// printf("cubictime = %f x1 = %f x2 = %f x3 = %f x4 = %f\n", cubic[index].interpolationTime, cubic[index].x0, cubic[index].x1, cubic[index].x2,cubic[index].x3);
return out;
}
struct Cubic_Struct cubicWH[4];
int cubicAddPoint_WaistHead(int index, double point)
{
if (cubicWH[index].needNextPoint == 0)
{
return -1;
}
if (cubicWH[index].filled == 0)
{
cubicWH[index].x0 = point;
cubicWH[index].x1 = point;
cubicWH[index].x2 = point;
cubicWH[index].x3 = point;
cubicWH[index].filled = 1;
}
else
{
cubicWH[index].x0 = cubicWH[index].x1;
cubicWH[index].x1 = cubicWH[index].x2;
cubicWH[index].x2 = cubicWH[index].x3;
cubicWH[index].x3 = point;
}
cubicWH[index].wp0 = (cubicWH[index].x0 + 4*cubicWH[index].x1 + cubicWH[index].x2)/6.0;
cubicWH[index].wp1 = (cubicWH[index].x1 + 4*cubicWH[index].x2 + cubicWH[index].x3)/6.0;
cubicWH[index].vel0 = (cubicWH[index].x2 - cubicWH[index].x0)/(2.0*cubicWH[index].segmentTime);
cubicWH[index].vel1 = (cubicWH[index].x3 - cubicWH[index].x1)/(2.0*cubicWH[index].segmentTime);
cubicWH[index].coeffd = cubicWH[index].wp0;
cubicWH[index].coeffc = cubicWH[index].vel0;
cubicWH[index].coeffb = 3*(cubicWH[index].wp1 - cubicWH[index].wp0)/cubicWH[index].segmentTime/cubicWH[index].segmentTime - (2*cubicWH[index].vel0 + cubicWH[index].vel1)/cubicWH[index].segmentTime;
cubicWH[index].coeffa = (cubicWH[index].vel1 - cubicWH[index].vel0)/(3*cubicWH[index].segmentTime*cubicWH[index].segmentTime) - (2*cubicWH[index].coeffb)/(3*cubicWH[index].segmentTime);
cubicWH[index].interpolationTime = 0;
cubicWH[index].needNextPoint = 0;
return 1;
}
double cubicInterpolate_WaistHead(int index)
{
if (cubicWH[index].needNextPoint == 1)
{
cubicAddPoint_WaistHead(index, cubicWH[index].x3);
}
cubicWH[index].interpolationTime = cubicWH[index].interpolationTime + cubicWH[index].interpolationIncrement;
if (fabs(cubicWH[index].segmentTime - cubicWH[index].interpolationTime)<0.5*cubicWH[index].interpolationIncrement)
{
cubicWH[index].needNextPoint = 1;
}
double out = 0.0;
out = cubicWH[index].coeffa*cubicWH[index].interpolationTime*cubicWH[index].interpolationTime*cubicWH[index].interpolationTime + cubicWH[index].coeffb*cubicWH[index].interpolationTime*cubicWH[index].interpolationTime + cubicWH[index].coeffc*cubicWH[index].interpolationTime + cubicWH[index].coeffd;
return out;
}
//3维叉乘
void VecCross(double va[3],double vb[3],double vre[3])
{
vre[0] = va[1]*vb[2] - va[2]*vb[1];
vre[1] = va[2]*vb[0] - va[0]*vb[2];
vre[2] = va[0]*vb[1] - va[1]*vb[0];
}
//点乘的绝对值
double VecMulti(double va[3],double vb[3])
{
double ans;
ans = fabs(va[0]*vb[0] + va[1]*vb[1] + va[2]*vb[2]);
return ans;
}
//*****************************************************************************
// void Matrix_Multiply(int iRow1, int iCol1, int iCol2, double* MA,
// double* MB, double* MC)
// 功能：矩阵相乘(MC=MA*MB)。
// 输入参数：
// iRow1, iCol1, iCol2 矩阵MA的行数、列数，矩阵MB的列数
// MA, MB 输入源矩阵MA,MB
// 输出参数：
// MC 输出矩阵MC=MA*MB
// 返回值：无。
//*****************************************************************************
void Matrix_Multiply(int iRow1, int iCol1, int iCol2, double* MA, double* MB, double* MC)
{
int i, j, n, u;
for (i = 0; i < iRow1; i++)
{
for (j = 0; j < iCol2; j++)
{
u = i * iCol2 + j;
MC[u] = 0.0;
for (n = 0; n < iCol1; n++)
MC[u] = MC[u] + MA[i*iCol1+n] * MB[n*iCol2+j];
}
}
return;
}
// 碰撞检测相关
struct OBB_struct OBB_ArmL[7];
struct OBB_struct OBB_ArmR[7];
struct OBB_struct OBB_Base[3];
void OBB_Update(float AngleL[7],float AngleR[7],float AngleW[2])
{
int i,j;
/* for (i=0;i<7;i++)
{
AngleL[i] = AngleL[i]*M_PI/180;
AngleR[i] = AngleR[i]*M_PI/180;
}
AngleW[0] = AngleW[0]*M_PI/180;
AngleW[1] = -AngleW[1]*M_PI/180;
*/
//左臂
double T0L[4][4] = {{1.0, 0, 0, 0}, {0, -1.0, 0, 0}, {0, 0, -1.0, -250.5}, {0, 0, 0, 1.0}};
double T1L[4][4] = {{cos(AngleL[0]), -sin(AngleL[0]), 0, 0}, {sin(AngleL[0]), cos(AngleL[0]), 0, 0}, {0, 0, 1.0, 0}, {0, 0, 0, 1.0}};
double T2L[4][4] = {{cos(AngleL[1]), -sin(AngleL[1]), 0, 0}, {0, 0, -1.0, 0}, {sin(AngleL[1]), cos(AngleL[1]), 0, 0},{0, 0, 0, 1.0}};
double T3L[4][4] = {{cos(AngleL[2]), -sin(AngleL[2]), 0, 0}, {0, 0, 1.0, d3}, {-sin(AngleL[2]), -cos(AngleL[2]), 0, 0},{0, 0, 0, 1.0}};
double T4L[4][4] = {{cos(AngleL[3]), -sin(AngleL[3]), 0, 0}, {0, 0, -1.0, 0}, {sin(AngleL[3]), cos(AngleL[3]), 0, 0},{0, 0, 0, 1.0}};
double T5L[4][4] = {{cos(AngleL[4]), -sin(AngleL[4]), 0, 0}, {0, 0, 1.0, d4}, {-sin(AngleL[4]), -cos(AngleL[4]), 0, 0}, {0, 0, 0, 1.0}};
double T6L[4][4] = {{cos(AngleL[5]), -sin(AngleL[5]), 0, 0}, {0, 0, -1.0, 0}, {sin(AngleL[5]), cos(AngleL[5]), 0, 0},{0, 0, 0, 1.0}};
double T7L[4][4] = {{cos(AngleL[6]), -sin(AngleL[6]), 0, 0}, {0, 0, 1.0, 0}, {-sin(AngleL[6]), -cos(AngleL[6]), 0, 0},{0, 0, 0, 1.0}};
double T01L[4][4],T02L[4][4],T03L[4][4],T04L[4][4],T05L[4][4],T06L[4][4],T07L[4][4];
matrix_multiply(T0L,T1L,T01L);
matrix_multiply(T01L,T2L,T02L);
matrix_multiply(T02L,T3L,T03L);
matrix_multiply(T03L,T4L,T04L);
matrix_multiply(T04L,T5L,T05L);
matrix_multiply(T05L,T6L,T06L);
matrix_multiply(T06L,T7L,T07L);
//计算包围盒的3条轴
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
OBB_ArmL[0].Rt[i][j] = T01L[i][j];
OBB_ArmL[1].Rt[i][j] = T02L[i][j];
OBB_ArmL[2].Rt[i][j] = T03L[i][j];
OBB_ArmL[3].Rt[i][j] = T04L[i][j];
OBB_ArmL[4].Rt[i][j] = T05L[i][j];
OBB_ArmL[5].Rt[i][j] = T06L[i][j];
OBB_ArmL[6].Rt[i][j] = T07L[i][j];
}
}
//计算包围盒中心位置
double ini_posL[7][4] = {
{0,0,-82,1},
{0,0,0,1},
{0,0,-155,1},
{0,0,0,1},
{0,0,-168.5,1},
{0,0,0,1},
{0,0,232.5,1}
};
double now_posL[7][4] = {0};
Matrix_Multiply(4,4,1,*T01L,*ini_posL,*now_posL);
Matrix_Multiply(4,4,1,*T02L,*(ini_posL+1),*(now_posL+1));
Matrix_Multiply(4,4,1,*T03L,*(ini_posL+2),*(now_posL+2));
Matrix_Multiply(4,4,1,*T04L,*(ini_posL+3),*(now_posL+3));
Matrix_Multiply(4,4,1,*T05L,*(ini_posL+4),*(now_posL+4));
Matrix_Multiply(4,4,1,*T06L,*(ini_posL+5),*(now_posL+5));
Matrix_Multiply(4,4,1,*T07L,*(ini_posL+6),*(now_posL+6));
for (i=0;i<7;i++)
{
for (j=0;j<3;j++)
OBB_ArmL[i].pos[j] = now_posL[i][j];
}
//给定包围盒的尺寸
OBB_ArmL[0].lwh[0] = 114;OBB_ArmL[0].lwh[1] = 114;OBB_ArmL[0].lwh[2] = 53;
OBB_ArmL[1].lwh[0] = 110;OBB_ArmL[1].lwh[1] = 110;OBB_ArmL[1].lwh[2] = 166;
OBB_ArmL[2].lwh[0] = 136;OBB_ArmL[2].lwh[1] = 136;OBB_ArmL[2].lwh[2] = 200;
OBB_ArmL[3].lwh[0] = 110;OBB_ArmL[3].lwh[1] = 110;OBB_ArmL[3].lwh[2] = 166;
OBB_ArmL[4].lwh[0] = 136;OBB_ArmL[4].lwh[1] = 136;OBB_ArmL[4].lwh[2] = 227;
OBB_ArmL[5].lwh[0] = 110;OBB_ArmL[5].lwh[1] = 110;OBB_ArmL[5].lwh[2] = 166;
OBB_ArmL[6].lwh[0] = 150;OBB_ArmL[6].lwh[1] = 150;OBB_ArmL[6].lwh[2] = 354;
//右臂
double T0R[4][4] = {{1.0, 0, 0, 0}, {0, 1.0, 0, 0}, {0, 0, 1.0, 250.5}, {0, 0, 0 , 1.0}};
double T1R[4][4] = {{cos(AngleR[0]), -sin(AngleR[0]), 0, 0}, {sin(AngleR[0]), cos(AngleR[0]), 0, 0}, {0, 0, 1.0, 0}, {0, 0, 0, 1.0}};
double T2R[4][4] = {{cos(AngleR[1]), -sin(AngleR[1]), 0, 0}, {0, 0, 1.0, 0}, {-sin(AngleR[1]), -cos(AngleR[1]), 0, 0},{0, 0, 0, 1.0}};
double T3R[4][4] = {{cos(AngleR[2]), -sin(AngleR[2]), 0, 0}, {0, 0, -1.0, -d3}, {sin(AngleR[2]), cos(AngleR[2]), 0, 0},{0, 0, 0, 1.0}};
double T4R[4][4] = {{cos(AngleR[3]), -sin(AngleR[3]), 0, 0}, {0, 0, 1.0, 0}, {-sin(AngleR[3]), -cos(AngleR[3]), 0, 0},{0, 0, 0, 1.0}};
double T5R[4][4] = {{cos(AngleR[4]), -sin(AngleR[4]), 0, 0}, {0, 0, -1.0, -d4}, {sin(AngleR[4]), cos(AngleR[4]), 0, 0}, {0, 0, 0, 1.0}};
double T6R[4][4] = {{cos(AngleR[5]), -sin(AngleR[5]), 0, 0}, {0, 0, 1.0, 0}, {-sin(AngleR[5]), -cos(AngleR[5]), 0, 0},{0, 0, 0, 1.0}};
double T7R[4][4] = {{cos(AngleR[6]), -sin(AngleR[6]), 0, 0}, {0, 0, -1.0, 0}, {sin(AngleR[6]), cos(AngleR[6]), 0, 0},{0, 0, 0, 1.0}};
double T01R[4][4],T02R[4][4],T03R[4][4],T04R[4][4],T05R[4][4],T06R[4][4],T07R[4][4];
matrix_multiply(T0R,T1R,T01R);
matrix_multiply(T01R,T2R,T02R);
matrix_multiply(T02R,T3R,T03R);
matrix_multiply(T03R,T4R,T04R);
matrix_multiply(T04R,T5R,T05R);
matrix_multiply(T05R,T6R,T06R);
matrix_multiply(T06R,T7R,T07R);
//计算包围盒的3条轴
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
OBB_ArmR[0].Rt[i][j] = T01R[i][j];
OBB_ArmR[1].Rt[i][j] = T02R[i][j];
OBB_ArmR[2].Rt[i][j] = T03R[i][j];
OBB_ArmR[3].Rt[i][j] = T04R[i][j];
OBB_ArmR[4].Rt[i][j] = T05R[i][j];
OBB_ArmR[5].Rt[i][j] = T06R[i][j];
OBB_ArmR[6].Rt[i][j] = T07R[i][j];
}
}
//计算包围盒中心位置
double ini_posR[7][4] = {
{0,0,-82,1},
{0,0,0,1},
{0,0,-155.5,1},
{0,0,0,1},
{0,0,-168.5,1},
{0,0,0,1},
{0,0,232.5,1}
};
double now_posR[7][4] = {0};
Matrix_Multiply(4,4,1,*T01R,*ini_posR,*now_posR);
Matrix_Multiply(4,4,1,*T02R,*(ini_posR+1),*(now_posR+1));
Matrix_Multiply(4,4,1,*T03R,*(ini_posR+2),*(now_posR+2));
Matrix_Multiply(4,4,1,*T04R,*(ini_posR+3),*(now_posR+3));
Matrix_Multiply(4,4,1,*T05R,*(ini_posR+4),*(now_posR+4));
Matrix_Multiply(4,4,1,*T06R,*(ini_posR+5),*(now_posR+5));
Matrix_Multiply(4,4,1,*T07R,*(ini_posR+6),*(now_posR+6));
for (i=0;i<7;i++)
{
for (j=0;j<3;j++)
OBB_ArmR[i].pos[j] = now_posR[i][j];
}
//给定包围盒的尺寸
OBB_ArmR[0].lwh[0] = 114;OBB_ArmR[0].lwh[1] = 114;OBB_ArmR[0].lwh[2] = 53;
OBB_ArmR[1].lwh[0] = 110;OBB_ArmR[1].lwh[1] = 110;OBB_ArmR[1].lwh[2] = 166;
OBB_ArmR[2].lwh[0] = 136;OBB_ArmR[2].lwh[1] = 136;OBB_ArmR[2].lwh[2] = 200;
OBB_ArmR[3].lwh[0] = 110;OBB_ArmR[3].lwh[1] = 110;OBB_ArmR[3].lwh[2] = 166;
OBB_ArmR[4].lwh[0] = 136;OBB_ArmR[4].lwh[1] = 136;OBB_ArmR[4].lwh[2] = 227;
OBB_ArmR[5].lwh[0] = 110;OBB_ArmR[5].lwh[1] = 110;OBB_ArmR[5].lwh[2] = 166;
OBB_ArmR[6].lwh[0] = 150;OBB_ArmR[6].lwh[1] = 150;OBB_ArmR[6].lwh[2] = 354;
//OBB_Base依次为从上至下3个包围盒
//头、胸腔、腰OBB_Base[0]
OBB_Base[0].Rt[0][0] = 1.0;OBB_Base[0].Rt[0][1] = 0;OBB_Base[0].Rt[0][2] = 0;OBB_Base[0].Rt[0][3] = 0;
OBB_Base[0].Rt[1][0] = 0;OBB_Base[0].Rt[1][1] = 1.0;OBB_Base[0].Rt[1][2] = 0;OBB_Base[0].Rt[1][3] = 0;
OBB_Base[0].Rt[2][0] = 0;OBB_Base[0].Rt[2][1] = 0;OBB_Base[0].Rt[2][2] = 1.0;OBB_Base[0].Rt[2][3] = 0;
OBB_Base[0].Rt[3][0] = 0;OBB_Base[0].Rt[3][1] = 0;OBB_Base[0].Rt[3][2] = 0;OBB_Base[0].Rt[3][3] = 1.0;
OBB_Base[0].pos[0] = -31;OBB_Base[0].pos[1] = 0;OBB_Base[0].pos[2] = 0;
OBB_Base[0].lwh[0] = 840;OBB_Base[0].lwh[1] = 300;OBB_Base[0].lwh[2] = 350;
//底座 AngleW中第一个角度为旋转 第二个为俯仰
//包围盒的坐标轴 OBB_Base[1] OBB_Base[2]
double T0w[4][4] = {{1.0, 0, 0, -116.81}, {0, 1.0, 0, 0}, {0, 0, 1.0, 307}, {0, 0, 0 , 1.0}};
double T1w[4][4] = {{cos(AngleW[0]), -sin(AngleW[0]), 0, 0}, {sin(AngleW[0]), cos(AngleW[0]), 0, 0}, {0, 0, 1.0, 208}, {0, 0, 0, 1.0}};
double T2w[4][4] = {{cos(AngleW[1]), -sin(AngleW[1]), 0, 0}, {0, 0, 1.0, 0},{-sin(AngleW[1]), -cos(AngleW[1]), 0, 0}, {0, 0, 0, 1.0}};
double Tb2[4][4] = {{0, 1.0, 0, 0}, {-1.0, 0, 0, -350}, {0, 0, 1.0, 0}, {0, 0, 0 , 1.0}};
double Ttemp1[4][4],Ttemp2[4][4],Ttemp3[4][4],Ttemp4[4][4],Ttemp5[4][4];
matrix_multiply(T1w,T2w,Ttemp1);
matrix_multiply(Ttemp1,Tb2,Ttemp2);
matrix_multiply(T0w,Ttemp2,Ttemp3);
inv_matrix(Ttemp2, Ttemp4);//Ttemp4为OBB_Base[1]相对于两臂之间基坐标系
inv_matrix(Ttemp3, Ttemp5);//Ttemp5为OBB_Base[2]相对于两臂之间基坐标系
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
OBB_Base[1].Rt[i][j] = Ttemp4[i][j];
OBB_Base[2].Rt[i][j] = Ttemp5[i][j];
}
}
//包围盒的中心位置
double ini_posB[2][4] = {
{0,0,0,1},
{0,0,0,1}
};
double now_posB[2][4] = {0};
Matrix_Multiply(4,4,1,*Ttemp4,*ini_posB,*now_posB);
Matrix_Multiply(4,4,1,*Ttemp5,*(ini_posB+1),*(now_posB+1));
for (i=1;i<3;i++)
{
for (j=0;j<3;j++)
OBB_Base[i].pos[j] = now_posB[i-1][j];
}
//包围盒的尺寸
OBB_Base[1].lwh[0] = 300;OBB_Base[1].lwh[1] = 360;OBB_Base[1].lwh[2] = 214;
OBB_Base[2].lwh[0] = 1050;OBB_Base[2].lwh[1] = 800;OBB_Base[2].lwh[2] = 400;
}
int OBB_Collision(struct OBB_struct OStr1,struct OBB_struct OStr2)
{
int OBB_Re = 0;
int i,j;
//计算15个分离轴(均为单位向量)
double separate_axis[15][3] = {0};
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
separate_axis[i][j] = OStr1.Rt[j][i];
separate_axis[i+3][j] = OStr2.Rt[j][i];
}
}
int k = 6;
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
VecCross(separate_axis[i],separate_axis[j+3],separate_axis[k]);
k++;
}
}
for (i=0;i<15;i++)
{
double axis_length = 0.0;
axis_length = separate_axis[i][0]*separate_axis[i][0] + separate_axis[i][1]*separate_axis[i][1] + separate_axis[i][2]*separate_axis[i][2];
for (j=0;j<3;j++)
{
if(axis_length != 0)
separate_axis[i][j] = separate_axis[i][j]/axis_length;
}
}
//检测
double CCvec[3];
for (j=0;j<3;j++)
CCvec[j] = OStr1.pos[j] - OStr2.pos[j];
double CClength,RAlength,RAlength1,RAlength2;
for (i=0;i<15;i++)
{
RAlength1 = 0.0;
RAlength2 = 0.0;
//中心点连线在分离轴上的投影长度
CClength = VecMulti(CCvec,separate_axis[i]);
//半径投影长度之和
for (j=0;j<3;j++)
{
RAlength1 = RAlength1 + VecMulti(separate_axis[j],separate_axis[i])*OStr1.lwh[j];
RAlength2 = RAlength2 + VecMulti(separate_axis[j+3],separate_axis[i])*OStr2.lwh[j];
}
RAlength = (RAlength1 + RAlength2)/2.0;
if (CClength > RAlength)
{
OBB_Re = 1;
break;; //只要存在一条分离轴即表示未发生碰撞
}
}
//结果为0表示发生碰撞，结果为1表示未发生碰撞
return OBB_Re;
}
int CollisionDetection(float jL[7],float jR[7],float jW[2])
{
int TestResult;
TestResult = 1;
double ReLR[7][7] = {1};//左右臂之间的碰撞
double ReLB[5][3] = {1};//左臂（3关节开始）和基座之间的碰撞
double ReRB[5][3] = {1};//右臂（3关节开始）和基座之间的碰撞
int i,j;
//更新包围盒
OBB_Update(jL,jR,jW);
//检测两臂之间
for (i=0;i<7;i++)
{
for (j=0;j<7;j++)
{
ReLR[i][j] = OBB_Collision(OBB_ArmL[i],OBB_ArmR[j]);
if (ReLR[i][j] == 0)
{
TestResult = 0;
printf("Detect colission between two arm at ReLR[%d][%d]\n",i,j);
}
}
}
for (i=0;i<5;i++)
{
for (j=0;j<3;j++)
{
ReLB[i][j] = OBB_Collision(OBB_ArmL[i+2],OBB_Base[j]);
ReRB[i][j] = OBB_Collision(OBB_ArmR[i+2],OBB_Base[j]);
ReLB[0][0] = 1;
ReRB[0][0] = 1;
if ((ReLB[i][j] == 0)||(ReRB[i][j] == 0))
{
TestResult = 0;
printf("Detect colission between arm and base at ReLB[%d][%d]=%lf, ReRB[%d][%d]=%lf\n",i,j,ReLB[i][j],i,j,ReRB[i][j]);
}
}
}
//结果为0表示发生碰撞，结果为1表示未发生碰撞
return TestResult;
}
void JacobianL(double anglein[7], double JT[6][7])
{
double x1 = anglein[0]/57.3;
double x2 = anglein[1]/57.3;
double x3 = anglein[2]/57.3;
double x4 = anglein[3]/57.3;
double x5 = anglein[4]/57.3;
double x6 = anglein[5]/57.3;
double x7 = anglein[6]/57.3;
double sqrt3c2 = 0.8660254;
//求Jv
double Jv0[3][7];
double Jv7[3][7];
Jv0[0][0] = d4*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)) + dend*(cos(x6)*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)) + sin(x6)*(cos(x5)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3)))) + d3*sin(x1)*sin(x2);
Jv0[0][1] = dend*(sin(x6)*(cos(x5)*(cos(x1)*cos(x2)*sin(x4) + cos(x1)*cos(x3)*cos(x4)*sin(x2)) - cos(x1)*sin(x2)*sin(x3)*sin(x5)) - cos(x6)*(cos(x1)*cos(x2)*cos(x4) - cos(x1)*cos(x3)*sin(x2)*sin(x4))) - d4*(cos(x1)*cos(x2)*cos(x4) - cos(x1)*cos(x3)*sin(x2)*sin(x4)) - d3*cos(x1)*cos(x2);
Jv0[0][2] = d4*sin(x4)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3)) - dend*(sin(x6)*(sin(x5)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x4)*cos(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3))) - cos(x6)*sin(x4)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3)));
Jv0[0][3] = dend*(cos(x6)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) - cos(x5)*sin(x6)*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2))) + d4*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4));
Jv0[0][4] = -dend*sin(x6)*(sin(x5)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) - cos(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3)));
Jv0[0][5] = -dend*(sin(x6)*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2)) - cos(x6)*(cos(x5)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3))));
Jv0[0][6] = 0;
Jv0[1][0] = dend*(cos(x6)*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2)) + sin(x6)*(cos(x5)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3)))) + d4*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2)) - d3*cos(x1)*sin(x2);
Jv0[1][1] = dend*(sin(x6)*(cos(x5)*(cos(x2)*sin(x1)*sin(x4) + cos(x3)*cos(x4)*sin(x1)*sin(x2)) - sin(x1)*sin(x2)*sin(x3)*sin(x5)) - cos(x6)*(cos(x2)*cos(x4)*sin(x1) - cos(x3)*sin(x1)*sin(x2)*sin(x4))) - d4*(cos(x2)*cos(x4)*sin(x1) - cos(x3)*sin(x1)*sin(x2)*sin(x4)) - d3*cos(x2)*sin(x1);
Jv0[1][2] = dend*(sin(x6)*(sin(x5)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - cos(x4)*cos(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3))) - cos(x6)*sin(x4)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3))) - d4*sin(x4)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3));
Jv0[1][3] = - d4*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) - dend*(cos(x6)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) - cos(x5)*sin(x6)*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)));
Jv0[1][4] = dend*sin(x6)*(sin(x5)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) - cos(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3)));
Jv0[1][5] = dend*(sin(x6)*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)) - cos(x6)*(cos(x5)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3))));
Jv0[1][6] = 0;
Jv0[2][0] = 0;
Jv0[2][1] = dend*(sin(x6)*(cos(x5)*(sin(x2)*sin(x4) - cos(x2)*cos(x3)*cos(x4)) + cos(x2)*sin(x3)*sin(x5)) - cos(x6)*(cos(x4)*sin(x2) + cos(x2)*cos(x3)*sin(x4))) - d4*(cos(x4)*sin(x2) + cos(x2)*cos(x3)*sin(x4)) - d3*sin(x2);
Jv0[2][2] = dend*(sin(x6)*(cos(x3)*sin(x2)*sin(x5) + cos(x4)*cos(x5)*sin(x2)*sin(x3)) + cos(x6)*sin(x2)*sin(x3)*sin(x4)) + d4*sin(x2)*sin(x3)*sin(x4);
Jv0[2][3] = - d4*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) - dend*(cos(x6)*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) + cos(x5)*sin(x6)*(cos(x2)*cos(x4) - cos(x3)*sin(x2)*sin(x4)));
Jv0[2][4] = dend*sin(x6)*(sin(x5)*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) + cos(x5)*sin(x2)*sin(x3));
Jv0[2][5] = -dend*(cos(x6)*(cos(x5)*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) - sin(x2)*sin(x3)*sin(x5)) + sin(x6)*(cos(x2)*cos(x4) - cos(x3)*sin(x2)*sin(x4)));
Jv0[2][6] = 0;
double T07[4][4];
double T70[4][4];
double R70[3][3];
double xin[7];
int i,j;
for(i=0;i<7;i++)
xin[i] = anglein[i]/57.3;
KinL(xin,T07);
inv_matrix(T07,T70);
for(i=0;i<3;i++)
{
for(j=0;j<3;j++)
R70[i][j] = T70[i][j];
}
Matrix_Multiply(3,3,7,*R70,*Jv0,*Jv7);
//求Jw
double R1[3][3] = {{cos(xin[0]), -sin(xin[0]), 0}, {sin(xin[0]), cos(xin[0]), 0}, {0, 0, 1.0}};
double R2[3][3] = {{cos(xin[1]), -sin(xin[1]), 0}, {0, 0, -1.0}, {sin(xin[1]), cos(xin[1]),0}};
double R3[3][3] = {{cos(xin[2]), -sin(xin[2]), 0}, {0, 0, 1.0}, {-sin(xin[2]), -cos(xin[2]),0}};
double R4[3][3] = {{cos(xin[3]), -sin(xin[3]), 0}, {0, 0, -1.0}, {sin(xin[3]), cos(xin[3]),0}};
double R5[3][3] = {{cos(xin[4]), -sin(xin[4]), 0}, {0, 0, 1.0}, {-sin(xin[4]), -cos(xin[4]),0}};
double R6[3][3] = {{cos(xin[5]), -sin(xin[5]), 0}, {0, 0, -1.0}, {sin(xin[5]), cos(xin[5]),0}};
double R7[3][3] = {{cos(xin[6]), -sin(xin[6]), 0}, {0, 0, 1.0}, {-sin(xin[6]), -cos(xin[6]),0}};
double Z[3] = {0,0,1};
double J1w[3][1];
double J2w[3][2];
double J3w[3][3];
double J4w[3][4];
double J5w[3][5];
double J6w[3][6];
double J7w[3][7];
double R2t[3][3];
double R3t[3][3];
double R4t[3][3];
double R5t[3][3];
double R6t[3][3];
double R7t[3][3];
Matrix_Trans3(R2,R2t);
Matrix_Trans3(R3,R3t);
Matrix_Trans3(R4,R4t);
Matrix_Trans3(R5,R5t);
Matrix_Trans3(R6,R6t);
Matrix_Trans3(R7,R7t);
Matrix_Multiply(3,3,1,*R2t,Z,*J1w);
for (i = 0;i<3;i++)
{
J2w[i][0] = J1w[i][0];
J2w[i][1] = Z[i];
}
double J3temp[3][2];
Matrix_Multiply(3,3,2,*R3t,*J2w,*J3temp);
for (i = 0;i<3;i++)
{
for(j=0;j<2;j++)
J3w[i][j] = J3temp[i][j];
J3w[i][2] = Z[i];
}
double J4temp[3][3];
Matrix_Multiply(3,3,3,*R4t,*J3w,*J4temp);
for (i = 0;i<3;i++)
{
for(j=0;j<3;j++)
J4w[i][j] = J4temp[i][j];
J4w[i][3] = Z[i];
}
double J5temp[3][4];
Matrix_Multiply(3,3,4,*R5t,*J4w,*J5temp);
for (i = 0;i<3;i++)
{
for(j=0;j<4;j++)
J5w[i][j] = J5temp[i][j];
J5w[i][4] = Z[i];
}
double J6temp[3][5];
Matrix_Multiply(3,3,5,*R6t,*J5w,*J6temp);
for (i = 0;i<3;i++)
{
for(j=0;j<5;j++)
J6w[i][j] = J6temp[i][j];
J6w[i][5] = Z[i];
}
double J7temp[3][6];
Matrix_Multiply(3,3,6,*R7t,*J6w,*J7temp);
for (i = 0;i<3;i++)
{
for(j=0;j<6;j++)
J7w[i][j] = J7temp[i][j];
J7w[i][6] = Z[i];
}
//J7
for (i = 0;i<3;i++)
{
for(j=0;j<7;j++)
JT[i][j] = Jv7[i][j];
}
for (i = 0;i<3;i++)
{
for(j=0;j<7;j++)
JT[i+3][j] = J7w[i][j];
}
}
void JacobianR(double anglein[7], double JT[6][7])
{
double x1 = anglein[0]/57.3;
double x2 = anglein[1]/57.3;
double x3 = anglein[2]/57.3;
double x4 = anglein[3]/57.3;
double x5 = anglein[4]/57.3;
double x6 = anglein[5]/57.3;
double x7 = anglein[6]/57.3;
double sqrt3c2 = 0.8660254;
//求Jv
double Jv0[3][7];
double Jv7[3][7];
Jv0[0][0] = - d4*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)) - dend*(cos(x6)*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)) + sin(x6)*(cos(x5)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3)))) - d3*sin(x1)*sin(x2);
Jv0[0][1] = d4*(cos(x1)*cos(x2)*cos(x4) - cos(x1)*cos(x3)*sin(x2)*sin(x4)) - dend*(sin(x6)*(cos(x5)*(cos(x1)*cos(x2)*sin(x4) + cos(x1)*cos(x3)*cos(x4)*sin(x2)) - cos(x1)*sin(x2)*sin(x3)*sin(x5)) - cos(x6)*(cos(x1)*cos(x2)*cos(x4) - cos(x1)*cos(x3)*sin(x2)*sin(x4))) + d3*cos(x1)*cos(x2);
Jv0[0][2] = dend*(sin(x6)*(sin(x5)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x4)*cos(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3))) - cos(x6)*sin(x4)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3))) - d4*sin(x4)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3));
Jv0[0][3] = - dend*(cos(x6)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) - cos(x5)*sin(x6)*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2))) - d4*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4));
Jv0[0][4] = dend*sin(x6)*(sin(x5)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) - cos(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3)));
Jv0[0][5] = dend*(sin(x6)*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2)) - cos(x6)*(cos(x5)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3))));
Jv0[0][6] = 0;
Jv0[1][0] = d3*cos(x1)*sin(x2) - d4*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2)) - dend*(cos(x6)*(sin(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) - cos(x1)*cos(x4)*sin(x2)) + sin(x6)*(cos(x5)*(cos(x4)*(sin(x1)*sin(x3) - cos(x1)*cos(x2)*cos(x3)) + cos(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x3)*sin(x1) + cos(x1)*cos(x2)*sin(x3))));
Jv0[1][1] = d4*(cos(x2)*cos(x4)*sin(x1) - cos(x3)*sin(x1)*sin(x2)*sin(x4)) - dend*(sin(x6)*(cos(x5)*(cos(x2)*sin(x1)*sin(x4) + cos(x3)*cos(x4)*sin(x1)*sin(x2)) - sin(x1)*sin(x2)*sin(x3)*sin(x5)) - cos(x6)*(cos(x2)*cos(x4)*sin(x1) - cos(x3)*sin(x1)*sin(x2)*sin(x4))) + d3*cos(x2)*sin(x1);
Jv0[1][2] = d4*sin(x4)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3)) - dend*(sin(x6)*(sin(x5)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - cos(x4)*cos(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3))) - cos(x6)*sin(x4)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3)));
Jv0[1][3] = d4*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) + dend*(cos(x6)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) - cos(x5)*sin(x6)*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)));
Jv0[1][4] = -dend*sin(x6)*(sin(x5)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) - cos(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3)));
Jv0[1][5] = -dend*(sin(x6)*(sin(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) + cos(x4)*sin(x1)*sin(x2)) - cos(x6)*(cos(x5)*(cos(x4)*(cos(x1)*sin(x3) + cos(x2)*cos(x3)*sin(x1)) - sin(x1)*sin(x2)*sin(x4)) + sin(x5)*(cos(x1)*cos(x3) - cos(x2)*sin(x1)*sin(x3))));
Jv0[1][6] = 0;
Jv0[2][0] = 0;
Jv0[2][1] = dend*(sin(x6)*(cos(x5)*(sin(x2)*sin(x4) - cos(x2)*cos(x3)*cos(x4)) + cos(x2)*sin(x3)*sin(x5)) - cos(x6)*(cos(x4)*sin(x2) + cos(x2)*cos(x3)*sin(x4))) - d4*(cos(x4)*sin(x2) + cos(x2)*cos(x3)*sin(x4)) - d3*sin(x2);
Jv0[2][2] = dend*(sin(x6)*(cos(x3)*sin(x2)*sin(x5) + cos(x4)*cos(x5)*sin(x2)*sin(x3)) + cos(x6)*sin(x2)*sin(x3)*sin(x4)) + d4*sin(x2)*sin(x3)*sin(x4);
Jv0[2][3] = - d4*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) - dend*(cos(x6)*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) + cos(x5)*sin(x6)*(cos(x2)*cos(x4) - cos(x3)*sin(x2)*sin(x4)));
Jv0[2][4] = dend*sin(x6)*(sin(x5)*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) + cos(x5)*sin(x2)*sin(x3));
Jv0[2][5] = -dend*(cos(x6)*(cos(x5)*(cos(x2)*sin(x4) + cos(x3)*cos(x4)*sin(x2)) - sin(x2)*sin(x3)*sin(x5)) + sin(x6)*(cos(x2)*cos(x4) - cos(x3)*sin(x2)*sin(x4)));
Jv0[2][6] = 0;
double T07[4][4];
double T70[4][4];
double R70[3][3];
double xin[7];
int i,j;
for(i=0;i<7;i++)
xin[i] = anglein[i]/57.3;
KinR(xin,T07);
inv_matrix(T07,T70);
for(i=0;i<3;i++)
{
for(j=0;j<3;j++)
R70[i][j] = T70[i][j];
}
Matrix_Multiply(3,3,7,*R70,*Jv0,*Jv7);
//求Jw
double R1[3][3] = {{cos(xin[0]), -sin(xin[0]), 0}, {sin(xin[0]), cos(xin[0]), 0}, {0, 0, 1.0}};
double R2[3][3] = {{cos(xin[1]), -sin(xin[1]), 0}, {0, 0, 1.0}, {-sin(xin[1]), -cos(xin[1]),0}};
double R3[3][3] = {{cos(xin[2]), -sin(xin[2]), 0}, {0, 0, -1.0}, {sin(xin[2]), cos(xin[2]),0}};
double R4[3][3] = {{cos(xin[3]), -sin(xin[3]), 0}, {0, 0, 1.0}, {-sin(xin[3]), -cos(xin[3]),0}};
double R5[3][3] = {{cos(xin[4]), -sin(xin[4]), 0}, {0, 0, -1.0}, {sin(xin[4]), cos(xin[4]),0}};
double R6[3][3] = {{cos(xin[5]), -sin(xin[5]), 0}, {0, 0, 1.0}, {-sin(xin[5]), -cos(xin[5]),0}};
double R7[3][3] = {{cos(xin[6]), -sin(xin[6]), 0}, {0, 0, -1.0}, {sin(xin[6]), cos(xin[6]),0}};
double Z[3] = {0,0,1};
double J1w[3][1];
double J2w[3][2];
double J3w[3][3];
double J4w[3][4];
double J5w[3][5];
double J6w[3][6];
double J7w[3][7];
double R2t[3][3];
double R3t[3][3];
double R4t[3][3];
double R5t[3][3];
double R6t[3][3];
double R7t[3][3];
Matrix_Trans3(R2,R2t);
Matrix_Trans3(R3,R3t);
Matrix_Trans3(R4,R4t);
Matrix_Trans3(R5,R5t);
Matrix_Trans3(R6,R6t);
Matrix_Trans3(R7,R7t);
Matrix_Multiply(3,3,1,*R2t,Z,*J1w);
for (i = 0;i<3;i++)
{
J2w[i][0] = J1w[i][0];
J2w[i][1] = Z[i];
}
double J3temp[3][2];
Matrix_Multiply(3,3,2,*R3t,*J2w,*J3temp);
for (i = 0;i<3;i++)
{
for(j=0;j<2;j++)
J3w[i][j] = J3temp[i][j];
J3w[i][2] = Z[i];
}
double J4temp[3][3];
Matrix_Multiply(3,3,3,*R4t,*J3w,*J4temp);
for (i = 0;i<3;i++)
{
for(j=0;j<3;j++)
J4w[i][j] = J4temp[i][j];
J4w[i][3] = Z[i];
}
double J5temp[3][4];
Matrix_Multiply(3,3,4,*R5t,*J4w,*J5temp);
for (i = 0;i<3;i++)
{
for(j=0;j<4;j++)
J5w[i][j] = J5temp[i][j];
J5w[i][4] = Z[i];
}
double J6temp[3][5];
Matrix_Multiply(3,3,5,*R6t,*J5w,*J6temp);
for (i = 0;i<3;i++)
{