Create myprogram.cpp

第二次编程作业
学号：U201210609

Author: YanbinGuo

U201210609/myprogram.cpp

@@ -0,0 +1,202 @@
+//Point.h
+ 1 #ifndef Point_h
+ 2 #define Point_h
+ 3 class Point
+ 4 {
+ 5     private :
+ 6         double px,py;
+ 7     public :
+ 8     
+ 9         double getpx()
+10         {
+11             return px;
+12         }
+13         double getpy()
+14         {
+15             return py;
+16         }
+17         void setp(double x, double y)
+18         {
+19             px=x;
+20             py=y;
+21         }
+22 };
+23 #endif
+
+复制代码
+复制代码
+
+ //Solver.h
+ 1 #ifndef Solver_h
+ 2 #define Solver_h
+ 3 #include <math.h> 
+ 4 #include <iostream>
+ 5 #include"Point.h"
+ 6 using namespace std;
+ 7 class Solver 
+ 8 {
+ 9     private:
+10         double ang1,ang2;
+11         Point  p;
+12     public:
+13     
+14         void setp(Point p1)
+15         {
+16             p=p1;
+17         }
+18         void setang(double a1, double a2)
+19         {
+20             ang1=a1/180*3.1415926;
+21             ang2=a2/180*3.1416926;
+22         }
+23         void outang ()
+24         {
+25             cout<<"第一机械臂的转角是"<<ang1/3.1415926*180<<endl;
+26             cout<<"第二机械臂的转角是"<<ang2/3.1415926*180<<endl;
+27         }
+28         void outxy ()
+29         {
+30             cout<<"x坐标是"<<p.getpx()<<endl;
+31             cout<<"y坐标是"<<p.getpy()<<endl;
+32         }
+33         void angtdik()
+34         {
+35             p.setp(100*cos(ang1)+100*cos(ang2),100*sin(ang1)+100*sin(ang2));
+36         
+37         }
+38         void diktang()
+39         {
+40             double sx=p.getpx();
+41             double sy=p.getpy();
+42             double q=atan(sy/sx);
+43             double l=sqrt(sx*sx+sy*sy);
+44             ang1=q+acos(-l/200);
+45             ang2=acos((l*l-20000)/20000)-3.1415926-ang1;
+46         }
+47 };
+48 #endif
+
+复制代码
+复制代码
+
+//Robot.h
+#ifndef Robot_h
+#define Robot_h
+#include "Coord.h"
+#include "Trans.h"
+#include "Solver.h"
+class Robot
+{
+    private:
+        double l1,l2,rang1,rang2;
+    public:
+        Robot()
+        {
+            l1=100;
+            l2=100;
+            rang1=0;
+            rang2=0;
+        }
+        void PTPmove(Coord c1,Point p)
+        {
+            Trans T;
+            Solver S;
+            Point p1;
+            p1=T.TTW (c1,p);
+            S.setp(p1);
+            S.diktang();
+            S.outang();
+            
+        }
+};
+#endif
+
+复制代码
+复制代码
+
+//Coord.h
+#ifndef Coord_h
+#define Coord_h
+#include "Point.h"
+class Coord
+{
+    private :
+        Point p1;
+        double ang;
+    public :
+        /*Coord(Point p,double ang1)
+        {
+            p1=p;
+            ang=ang1;
+        }*/
+        void setcoord(Point p,double ang1 )
+        {
+            p1=p;
+            ang=ang1;
+        }
+        Point getp1()
+        {
+            return p1;
+        }
+        double getang()
+        {
+            return ang/180*3.1415926;
+        }
+};
+#endif
+
+复制代码
+复制代码
+
+//Trans.h
+#ifndef Trans_h
+#define Trans_h
+#include "Point.h"
+#include "Coord.h"
+#include <math.h>
+class Trans
+{
+    public :
+
+        Point TTW (Coord c1,Point p3)
+        {
+            Point p1=c1.getp1();
+            Point p2;
+            double ang=c1.getang();
+            double x,y,x1,y1;
+            x=p3.getpx();
+            y=p3.getpy();
+            x1=x*cos(ang)-y*sin(ang)+p1.getpx();
+            y1=x*sin(ang)+y*cos(ang)+p1.getpy();
+            p2.setp(x1,y1);
+            return p2;            
+        }    
+
+};
+#endif
+
+复制代码
+复制代码
+
+//main.cpp
+#include <iostream>
+#include "Point.h"
+#include "Solver.h"
+#include "Robot.h"
+#include "Coord.h"
+#include "Trans.h" 
+using namespace std;
+int  main ()
+{
+    Robot r;
+    Point p;
+    Point p1;
+    p.setp(30,20);
+    p1.setp(40,60);
+    Coord t;
+    t.setcoord(p,45);
+    r.PTPmove(t,p1);
+    return 0;
+}
+
+复制代码