jerryzeng/algoLib
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

workpieceHolePositioning v1.1.1

Browse Source 
调整了方向矢量的方向
This commit is contained in:
jerryzeng 2026-02-01 15:28:17 +08:00
parent fbc21da905
commit 73e6b8af60
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
sourceCode/workpieceHolePositioning.cpp
View File

@ -8,7 +8,7 @@
//version 1.0.0 : base version release to customer
//version 1.0.2 : 添加了工件姿态（欧拉角输出)
//version 1.1.0 : c对工件姿态规范化为中心点（操作点）加三个方向矢量
std::string m_strVersion = "1.1.0";
std::string m_strVersion = "1.1.1";
const char* wd_workpieceHolePositioningVersion(void)
{
return m_strVersion.c_str();
@ -509,13 +509,13 @@ void wd_workpieceHolePositioning(
SVzNL3DPoint y_dir;
if (p0.center.y < p2.center.y)
y_dir = { p0.center.x - p2.center.x, p0.center.y - p2.center.y, 0 };
else
y_dir = { p2.center.x - p0.center.x, p2.center.y - p0.center.y, 0 };
else
y_dir = { p0.center.x - p2.center.x, p0.center.y - p2.center.y, 0 };
double modLen = sqrt(pow(y_dir.x, 2) + pow(y_dir.y, 2));
y_dir = { y_dir.x / modLen, y_dir.y / modLen, 0 };
a_workpiece.y_dir = { y_dir.x * 20 + a_workpiece.center.x, y_dir.y * 20 + a_workpiece.center.y, a_workpiece.center.z };
a_workpiece.z_dir = { a_workpiece.center.x, a_workpiece.center.y, a_workpiece.center.z - 20 };
a_workpiece.z_dir = { a_workpiece.center.x, a_workpiece.center.y, a_workpiece.center.z + 20 };
workpiecePositioning.push_back(a_workpiece);
}