CALC

六轴工业机器人的逆运动学,采用VC++进行编程自动求解(inverse of 6-dof industrial robot)

利用PHOTOSHOP软件可以量测出左右像片各控制点的像素坐标，通过公式可以计算出其像点坐标。再根据给定的控制点的空间坐标，利用直线线性变换解法计算出11个DLT参数即l的系数值以及内方位元素然后解算出外方位元素。另外一种方式是用单像空间后方交会的公式计算出外方位元素。利用单像空间后方交会的来结算影像的外方位元素的基本思想是：以单幅影像为基础，从该影像所覆盖地面范围内若干控制点的已知地面坐标和相应点的像坐标量测值出发，根据共线条件方程，解求该影像在航空摄影时刻的外方位元素。首先建立单文档的程序，建立一个对话框类，在这个类中进行像素坐标、控制点坐标文件的打开与读取，然后利用DLT公式进行外方位元素的解算。 数据检核部分用前方交会算法来进行，首先根据ID找到左右片的像点的同名点，然后计算变换矩阵及系数，根据给定的内方位元素，利用公式解算出像点的控制点坐标，然后和给定的控制点坐标相比较即可进行精度评定。 (PHOTOSHOP software can be measured using a photo of the control points around the pixel coordinates can be calculated by the formula sit out the image point Standard. According to the given coordinates of control points, the use of straight-line method to calculate the linear transformation of 11 DLT parameters that the coefficient l Value and calculate the orientation elements of exterior orientation elements and solutions. Another way is to use a single formula as the calculation of space resection Orientation elements out. Use as space resection alone to settle the image exterior orientation is the basic idea: to single video As the basis of images from the ground covered by a number of control points within the known ground coordinates and image coordinates of corresponding points in the measured values , The realities of collinearity equation, find the image in the time of aerial photography exterior orientation elements. First, the process to establish a single document)

最小二乘法拟合进行n次多项式拟合，N用来控制拟合的次数，例如N=5时进行4次多项式拟合，还回的是拟合系数(Least squares fit polynomial n times, N is used to fit the number of control, e.g., N = 5 When quartic polynomial fitting, further back are fitting coefficients)

把十六进制数转换为十进制数，简单方便！能用于串口通信数据处理中(The hexadecimal number is converted to a decimal number, is simple and convenient! Can be used for serial communication data processing)

fortran编写的读取dxf程序，可读取圆，多线段，直线，点，块参照，文字的坐标高程信息(write by fortran ，it can read dxf program， can read a round, multi line, linear, point, block reference, the coordinates of elevation information text)

α-β-γ滤波函数，可实现对等间隔的观测数据进行滤波估计。(α-β-γ filter function design by C language. Complete the filter evaluation function for equidistant discrete data.)

水质模型，用于计算河流下游及河口水环境容量(use for water quality)

说明：  经过优化的C代码实现的Gauss-Seidel 迭代算法(Optimized C code of the Gauss-Seidel iterative algorithm)

说明：  距阵链乘问题: 找出矩阵链乘A(35*40) A(40*20) A(20*10) A(10*15)的最佳相乘次序。 算法来自:计算机算法导引(matrix chain by : identify matrix chain by A (35* 40) A (40* 20) A (20* 10) A (10* 15) concludes the best order. Algorithm from : computer algorithm Seeker)

有限元计算开源库，可以用于计算动力、静力、磁场等等方面的计算(Finite element calculation open source library)