修改逆解计算的一些bug

This commit is contained in:
13763374093 2024-11-16 12:22:21 +08:00
parent 43e10672e4
commit a0db5b7f64
17 changed files with 64 additions and 8 deletions

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@ -136,8 +136,8 @@ namespace BigProject.Devices.Arm
{ {
if (valid[i]) if (valid[i])
{ {
for (int j = 0; j < 6; j++) //for (int j = 0; j < 6; j++)
lastJoints.a[j] = ikSolves.config[i].a[j]; // lastJoints.a[j] = ikSolves.config[i].a[j];
Joint6D_t tmp = currentJoints - lastJoints; Joint6D_t tmp = currentJoints - lastJoints;
double maxAngle = AbsMaxOf6(tmp.a, out indexJoint); double maxAngle = AbsMaxOf6(tmp.a, out indexJoint);
if (maxAngle < min) if (maxAngle < min)

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@ -0,0 +1,4 @@
2024/11/16 12:21:18 [1] INFO 语音助手已连接
----------------------------------------------------------------------------------------------------------------------
2024/11/16 12:21:18 [1] INFO 机械臂灯0 已连接
----------------------------------------------------------------------------------------------------------------------

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@ -1 +1 @@
79932a20908cabfa80b8a12a19672aeaf669fd53 0887f202feb865367143b5863f0a719ee104bbe5

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@ -50,3 +50,55 @@ D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.Raz
D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.xml D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.xml
D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.xml D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.xml
D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.xml D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Static\icon.ico
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\BigProject.exe.config
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\BigProject.exe
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\BigProject.pdb
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Castle.Core.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\DnsClient.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Masuit.Tools.Net45.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Microsoft.Web.Infrastructure.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Microsoft.Win32.Registry.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Newtonsoft.Json.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Rubyer.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Buffers.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.AccessControl.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.Principal.Windows.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.ValueTuple.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Helpers.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Mvc.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Razor.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.dll
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Castle.Core.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\DnsClient.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Masuit.Tools.Net45.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Microsoft.Win32.Registry.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Newtonsoft.Json.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Rubyer.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Buffers.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.AccessControl.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.Principal.Windows.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.ValueTuple.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Helpers.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Mvc.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Razor.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.xml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.AssemblyReference.cache
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\MainWindow.g.cs
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\App.g.cs
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject_Content.g.cs
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject_MarkupCompile.cache
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject_MarkupCompile.lref
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\App.baml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\MainWindow.baml
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.g.resources
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.Properties.Resources.resources
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.GenerateResource.cache
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.CoreCompileInputs.cache
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.CopyComplete
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.exe
D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.pdb

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@ -4,16 +4,16 @@
winexe winexe
C# C#
.cs .cs
D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\obj\Debug\ D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\
BigProject BigProject
none none
false false
DEBUG;TRACE DEBUG;TRACE
D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\App.xaml D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml
1219584333 1219584333
11221526090 11221526090
24-260348658 24-260348658
35409930802 35-670795799
MainWindow.xaml; MainWindow.xaml;
False False

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@ -1,4 +1,4 @@
 
FD:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\App.xaml;; FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml;;
FD:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\MainWindow.xaml;; FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\MainWindow.xaml;;