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https://gitee.com/dashuaibran/jyker
synced 2025-11-04 13:29:41 +08:00
修改逆解计算的一些bug
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@ -136,8 +136,8 @@ namespace BigProject.Devices.Arm
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{
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{
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if (valid[i])
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if (valid[i])
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{
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{
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for (int j = 0; j < 6; j++)
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//for (int j = 0; j < 6; j++)
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lastJoints.a[j] = ikSolves.config[i].a[j];
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// lastJoints.a[j] = ikSolves.config[i].a[j];
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Joint6D_t tmp = currentJoints - lastJoints;
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Joint6D_t tmp = currentJoints - lastJoints;
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double maxAngle = AbsMaxOf6(tmp.a, out indexJoint);
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double maxAngle = AbsMaxOf6(tmp.a, out indexJoint);
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if (maxAngle < min)
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if (maxAngle < min)
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@ -0,0 +1,4 @@
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2024/11/16 12:21:18 [1] INFO 语音助手已连接
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----------------------------------------------------------------------------------------------------------------------
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2024/11/16 12:21:18 [1] INFO 机械臂灯0 已连接
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----------------------------------------------------------------------------------------------------------------------
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@ -1 +1 @@
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79932a20908cabfa80b8a12a19672aeaf669fd53
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0887f202feb865367143b5863f0a719ee104bbe5
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@ -50,3 +50,55 @@ D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.Raz
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.xml
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.xml
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.xml
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.xml
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.xml
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Static\icon.ico
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\BigProject.exe.config
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\BigProject.exe
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\BigProject.pdb
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Castle.Core.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\DnsClient.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Masuit.Tools.Net45.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Microsoft.Web.Infrastructure.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Microsoft.Win32.Registry.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Newtonsoft.Json.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Rubyer.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Buffers.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.AccessControl.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.Principal.Windows.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.ValueTuple.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Helpers.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Mvc.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Razor.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.dll
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Castle.Core.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\DnsClient.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Masuit.Tools.Net45.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Microsoft.Win32.Registry.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Newtonsoft.Json.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\Rubyer.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Buffers.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.AccessControl.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Security.Principal.Windows.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.ValueTuple.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Helpers.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Mvc.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.Razor.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Deployment.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\bin\Debug\System.Web.WebPages.Razor.xml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.AssemblyReference.cache
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\MainWindow.g.cs
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\App.g.cs
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject_Content.g.cs
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject_MarkupCompile.cache
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject_MarkupCompile.lref
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\App.baml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\MainWindow.baml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.g.resources
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.Properties.Resources.resources
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.GenerateResource.cache
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.CoreCompileInputs.cache
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.csproj.CopyComplete
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.exe
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\BigProject.pdb
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winexe
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winexe
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C#
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C#
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.cs
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.cs
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\obj\Debug\
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\obj\Debug\
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BigProject
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BigProject
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none
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none
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false
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false
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DEBUG;TRACE
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DEBUG;TRACE
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D:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\App.xaml
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D:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml
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1219584333
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1219584333
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11221526090
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11221526090
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24-260348658
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24-260348658
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35409930802
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35-670795799
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MainWindow.xaml;
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MainWindow.xaml;
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False
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False
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@ -1,4 +1,4 @@
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FD:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\App.xaml;;
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FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\App.xaml;;
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FD:\Ducument\mywork\jyker\HMI\code\BigProject\BigProject\MainWindow.xaml;;
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FD:\Ducument\mywork\jyker\gitbanben\jyker\HMIcode\BigProject\BigProject\MainWindow.xaml;;
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