实时控制软件设计第二次作业

1-1、Point.h

#ifndef _POINT_H_

#define _POINT_H_

class Point{

private:

double _x;

double _y;

public:

Point(double x,double y);

double getX();

double getY();

};

#endif

 1-2、Point.cpp

#include"Point.h"

#include<iostream>

Point::Point(double x,double y)

{this->_x=x;

this->_y=y;}

double Point::getX()

{return this->_x;} 

double Point::getY()

{return this->_y;}

2-1、Frame.h

#include<cmath>

#include<Eigen/Dense>

#include"Point.h"

using namespace std;

class Frame{

private:

Point P0;

double Degree;

public:

Frame(){}

Frame(Point P1,double degree){

P0=P1;

Degree=degree;}

Point getPoint(){return P0;}

double getDegree(){return Degree;}

};

#endif

3-1、JointFrame.h

#ifndef _JOINTFRAME_H_

#define _JOINTFRAME_H_

#include"Frame.h"

class JointFrame{

private:

double JointDegree[2];

public:

JointFrame();

JointFrame(double degree1,double degree2);

double setDeg(double degree1,double degree2);

double getDeg1();

double getDeg2();

};

#endif

3-2、JointFrame.cpp

#include "JointFrame.h"

JointFrame::JointFrame(){JointDegree[0]=0;

JointDegree[1]=0;}

JointFrame::JointFrame(double degree1,double degree2){

JointDegree[0]=degree1;

JointDegree[1]=degree2;}

double JointFrame::setDeg(double degree1,double degree2){

JointDegree[0]=degree1;

JointDegree[1]=degree2;}

double JointFrame::getDeg1(){return JointDegree[0];}

double JointFrame::getDeg2(){return JointDegree[1];}

4-1、Solver.h

#ifndef _SOLVER_H_

#define _SOLVER_H_

#define PI=3.14159

#include<cmath>

#include"Point.h"

#include"Frame.h"

#include"JointFrame.h"

class Solver{

private:

JointFrame jointframe;

Frame frame;

public:

Solver(JointFrame jointf,Frame f);

Point move(Point p1,Point P2);

Point rotate(Point p,double deg);

Point FrameWF(Frame f,Point p);

void FrameJF(Point p,double arm1,double arm2);

};

#endif

4-2、solver.cpp

#include"Solver.h"