本文整理汇总了C++中Matrix::ColNo方法的典型用法代码示例。如果您正苦于以下问题：C++ Matrix::ColNo方法的具体用法？C++ Matrix::ColNo怎么用？C++ Matrix::ColNo使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Matrix的用法示例。
在下文中一共展示了Matrix::ColNo方法的3个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: Print
//Prints the elements of a matrix
void Print(Matrix M)
{
for (int i=0; i < M.RowNo(); i++)
{
for (int j=0; j < M.ColNo(); j++)
{
printf("%.6f ", M(i,j));
}
printf("\n");
}
}示例2: WMRA_park2ready
void WMRA_park2ready(int ini, int vr, int ml, int arm, Matrix Tiwc, Matrix qiwc, Galil &g){
Matrix zero(1,1);
zero.Null(1,1);
if (ini==3){
if (arm==1){
try {
WMRA_ARM_Motion(ini, 0, zero, 0, g);
}
catch (...) {
cout << "Exception 1 occurred";
}
}
if (vr==1){
/*try {
WMRA_VR_Animation(ini, 0, 0);
}
catch (...) {
cout << "Exception 2 occurred";
}*/
}
if (ml==1){
/*try {
WMRA_ML_Animation(ini, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
}
catch (...) {
cout << "Exception 3 occurred";
}*/
}
return;
}
// Defining the used conditions:
float qi2 [7]= {0, PI/2, 0, PI, 0, 0, 0}; // Initial joint angles (Parking Position).
float qd2 [7]= {PI/2, PI/2, 0, PI/2, PI/2, PI/2, 0}; // Final joint angles (Ready Position).
Matrix qd(7,1), qi(7,1);
float ts, dt, ddt;
int n, j;
for ( j = 0 ; j < 7 ; j++ ) {
qi(j,0)=qi2[j];
qd(j,0)=qd2[j];
}
ts=10; // (5 or 10 or 20) Simulation time to move the arm from any position to the ready position.
n=100; // Number of time steps.
dt=ts/n; // The time step to move the arm from any position to the ready position.
Matrix dq(1,1);
dq=qd-qi;
dq/=(0.5*n+5); // Joint angle change at every time step.
FILE * fil;
fil = fopen("Park2ready.txt","w");
fprintf(fil," qi is: \n\n");
int k;
for (j=0;j<qi.RowNo();j++){
for (k=0;k<qi.ColNo();k++){
fprintf(fil," %4.2f ", qi(j,k));
}
fprintf(fil," \n");
}
fprintf(fil," \n\n\n");
fprintf(fil," qd is: \n\n");
for (j=0;j<qd.RowNo();j++){
for (k=0;k<qd.ColNo();k++){
fprintf(fil," %4.2f ", qd(j,k));
}
fprintf(fil," \n");
}
fprintf(fil," \n\n\n");
fprintf(fil," ts is %4.2f ", ts);
fprintf(fil," \n\n\n");
fprintf(fil," n is %d ", n);
fprintf(fil," \n\n\n");
fprintf(fil," dt is %4.2f ", dt);
fprintf(fil," \n\n\n");
fprintf(fil," dq is: \n\n");
for (j=0;j<dq.RowNo();j++){
for (k=0;k<dq.ColNo();k++){
fprintf(fil," %4.2f ", dq(j,k));
}
fprintf(fil," \n");
}
fprintf(fil," \n\n\n");
// Initializing the physical Arm:
if (arm==1){
zero.Null(10,1);
for ( j = 0 ; j < 7 ; j++ ) {
zero(j,0)=qi(j,0);
}
zero(7,0)=qiwc(0,0);
zero(8,0)=qiwc(1,0);
WMRA_ARM_Motion(ini, 2, zero, dt, g);
ddt=0;
}
fprintf(fil," qi is: \n\n");
for (j=0;j<qi.RowNo();j++){
for (k=0;k<qi.ColNo();k++){
fprintf(fil," %4.2f ", qi(j,k));
}
fprintf(fil," \n");
//.........这里部分代码省略.........
示例3: WMRA_any2ready
void WMRA_any2ready(int ini, int vr, int ml, int arm, Matrix Tiwc, Matrix qi, Galil &g){
Matrix zero(1,1);
zero.Null(1,1);
if (ini==3){
if (arm==1){
try {
WMRA_ARM_Motion(ini, 0, zero, 0, g);
cout<< "any ini "<<endl;
}
catch (...) {
cout << "Exception 1 occurred";
}
}
if (vr==1){
/*try {
WMRA_VR_Animation(ini, 0, 0);
}
catch (...) {
cout << "Exception 2 occurred";
}*/
}
if (ml==1){
/*try {
WMRA_ML_Animation(ini, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
}
catch (...) {
cout << "Exception 3 occurred";
}*/
}
return;
}
// Defining the used conditions:
Matrix qd(7,1);
float ts, dt, ddt;
int n, j;
//float qd2 [7]= {90, 90, 0, 90, 90, 90, 0}; // Final joint angles (Ready Position) //#1
//float qd2 [7]= {90, 90, -90, 180, 0, 60, 0}; // Final joint angles (Ready Position) #3
//float qd2 [7]= {90, 90, -90, 180, 0, 60, 0}; //#4
float qd2 [7]= {90, 90, 0, 90, 90, 60, 0}; // (Ready Position) //#2
//float qd2 [7]= {90, 90, 0, 90, 120, 60, 0}; // (Ready Position) //#5
//float qd2 [7]= {90, 90, 0, 90, 60, 60, 0}; // (Ready Position) //#6
//float qd2 [7]= {90, 60, 0, 90, 60, 60, 0};// ready position joint angles #7
//float qd2 [7]= {90, 90, 30, 90, 90, 60, 0};// ready position joint angles #8
for ( j = 0 ; j < 7 ; j++ ) {
qd(j,0)=qd2[j]*d2r;
}
ts=10; // (5 or 10 or 20) Simulation time to move the arm from any position to the ready position.
n=100; // Number of time steps.
dt=ts/n; // The time step to move the arm from any position to the ready position.
FILE * fel;
fel = fopen("Any2ready.txt","w");
fprintf(fel," qd is: \n\n");
int k;
for (j=0;j<qd.RowNo();j++){
for (k=0;k<qd.ColNo();k++){
fprintf(fel," %4.2f ", qd(j,k));
}
fprintf(fel," \n");
}
fprintf(fel," \n\n\n");
fprintf(fel," ts is %4.2f ", ts);
fprintf(fel," \n\n\n");
fprintf(fel," n is %d ", n);
fprintf(fel," \n\n\n");
fprintf(fel," dt is %4.2f ", dt);
fprintf(fel," \n\n\n");
// Initializing the physical Arm:
if (arm==1){
zero.Null(10,1);
for ( j = 0 ; j < 9 ; j++ ) {
zero(j,0)=qi(j,0);
}
cout<<"0";
WMRA_ARM_Motion(ini, 2, zero, dt, g);
ddt=0;
cout<<"1"<<endl;
}
fprintf(fel," qi is: \n\n");
for (j=0;j<qi.RowNo();j++){
for (k=0;k<qi.ColNo();k++){
fprintf(fel," %4.2f ", qi(j,k));
}
fprintf(fel," \n");
}
fprintf(fel," \n\n\n");
// Initializing Virtual Reality Animation:
if (vr==1){
// WMRA_VR_Animation(ini, Tiwc, qi);
}
// Initializing Robot Animation in Matlab Graphics:
Matrix DH(1,1);
Matrix T01(4,4), T12(4,4), T23(4,4), T34(4,4), T45(4,4), T56(4,4), T67(4,4);
Matrix Ti(4,4), Td(4,4);
//.........这里部分代码省略.........