XvCf[^ā
RԂɐݒ肳ꂽȐ̏L(e)ړ肷ۂɎgp܂B
XvCf[^͎̂Qނ̃t@CɂĒ`Ă܂B
@XvCȐWt@C   EEE datt@C
AXvC`t@C           EEE splt@C

XvCȐWt@C(*.dat)ɂā
XvCȐ̂ƂƂȂ钸_Wێ܂B
ȉ̂悤ȃtH[}bg̃XvCȐ̍Wt@CłB
(gnuplot̏o̓t@Ĉ܂܎gpoŁI)

samplebase.dat ---------------------------------
[BASEPOINT]
#       X         Y         Z
-1.724577  0.000000  0.000000
-0.964337 -0.088378 -0.344892
-0.501305 -0.055518 -0.298879
-0.179336 -0.031628 -0.240141
 0.123544 -0.016126 -0.165195
 0.362343  0.000000  0.000000
 0.545634  0.038709  0.176104
 0.704048  0.173192  0.372772
 0.864812  0.444651  0.516556
 1.055714  0.626849  0.569336
 1.246407  0.655359  0.547772
 1.365876  0.590994  0.453279
 1.388259  0.465998  0.332581
 1.362117  0.328636  0.211183
 1.242692  0.226675  0.087900
 1.064405  0.202917  0.000000
 0.920421  0.202917  0.000000

[ACCURACY]
0.2

[ADJUST_MAT]
0		0		-1		0
0		1		0		0
1		0		0		0
0		0		-5.0	1

-------------------------------------------------


XvCȐWt@C̊eڂ̐

[BASEPOINT]
XvCȐ̐_WłB
X Y Z ŐݒBwł|Cg͍ő1000܂łłB

[ACCURACY]
XvCȐW_̐xB
BASEPOINTŎw肵_`_̊Ԃɂǂ̂炢̕⊮_ǉ邩Ƃw肵܂B
⊮_́AO̐_ɂAȂ߂炩ȋȐ`悤Ȉʒuɑ}܂BiXvCȐj

1.0  w肷Ɛ_`_̊Ԃɕ⊮_͑}ꂸABASEPOINTwʂ̂܂܂ƂȂB
0.5  w肷Ɗe_`_ɂāA2_ɕ⊮_vZđ}B(܂萧_`_ɁA⊮_1Â})
0.25 w肷Ɗe_`_ɂāA4_ɕ⊮_vZđ}B(⊮_3})
0.1  w肷Ɗe_`_ɂāA10_ɕ⊮_vZđ}B(⊮_9})
0.01 w肷Ɗe_`_ɂāA100_ɕ⊮_vZđ}B(⊮_99})
ƂB

[ADJUST_MAT]
ϊs(4x4)ݒ肵ABASEPOINTW̕␳\łB
ł BASEPOINT̍WɁAX5.0ړ90xY s␳̕ϊsłB

0		0		-1		0
0		1		0		0
1		0		0		0
0		0		-5.0	1

 ADJUST_MAT ȗꍇ́A̒Pʍs񂪐ݒ肳ꂽ̂Ƃ܂B

1		0		0		0
0		1		0		0
0		0		1		0
0		0		0		1




XvC`t@C(*.spl)ā

XvC`t@CƂ́Agqsplňȉ̂悤ȃtH[}bg̃t@C̎łB
vOœǂݍ܂AL̓Ɏgp܂BȉTvB

sample.spl -------------------------------------
SPLINE=samplebase.dat
MAG_X=4000000.0
MAG_Y=1125000.0
MAG_Z=4000000.0
CLASS=FixedFrameSpline
SPENT_FRAME=300
ANGLE_VELOCITY=12000
TURN_WAY=TURN_CLOSE_TO
TURN_OPTIMIZE=true
------------------------------------------------


XvC`t@C̊eڂ̐

E"SPLINE"
XvCȐ̍W̃t@Cw肵܂B


E"MAG_X", "MAG_Y", "MAG_Z"
Oq "SPLINE" w肵Wɑ΂Ĕ{|邱Ƃł܂B
MAG_X, MAG_Y, MAG_Z  XAYAZA̔{̐ݒlłB
Tvł͌̍W(samplebase.dat) X4000000.0{AY1125000.0{A
Z4000000.0{Ɋg債̂XvCȐ̃|CgƂƂӖƂȂ܂B
SPLINE w肵Wɑ΂Ċgksvȏꍇ́A

MAG_X=1.0
MAG_Y=1.0
MAG_Z=1.0

ƋLq΁AP{̂ߊgk͂Ȃ܂B
gk̔{͕͂̐T|[g܂B
Y]ꍇ

MAG_X=1.0
MAG_Y=-1.0
MAG_Z=1.0

ƂOKłB


E"CLASS"
XvCړ̎sNXw肵܂B
Lǂ̂悤ɃXvCȐړ邩ɉe܂B
w\ȃNX͌ FixedFrameSpline  FixedVelocitySpline ̂Qނ݂̂łB
̂悤ȓ܂B

FixedFrameSpline    EEE XvC̊Jn_`I_̈ړA(t[)ŒňړB
                           eLێĂړx͖܂B
                           XvCȐ̓_̌Ɣ₷t[vZꂽړxL̑xlɏ㏑ݒ肳܂
                           ̂߁AXvCȐ̓_̖xZƂ̓Xs[hxA_̖xƂ̓Xs[hړƂȂ܂B

FixedVelocitySpline EEE XvC̊Jn_`I_̈ړAxŒňړB
                           eLێĂړxƎgp܂B
                           XvCȐ̓_̖xXs[hɉe܂B
                           ⊮_Ԃ̋ɉāA₷ړԂ\ߌvZ܂B
                           XvC̊Jn_`I_̈ړɉt[邩̓L̃Xs[hłB


E"SPENT_FRAME"
ړɔ₷t[ݒ肵܂B
 CLASS=FixedFrameSpline Ƃꍇ̂ݐݒ\ȍڂłB
XvC̊Jn_`I_̈ړAt[ňړ̂ݒ肵܂B
FixedVelocitySpline ݒ肵ĂꍇA̍ڂ͖܂B


E"ANGLE_VELOCITY"
t[]\ȍőp(1000  1xjݒ肵܂B
LXvCȐ̓__ֈړہAPt[̕]\ȉ]pxݒ肵܂B
̊px傫߂(180000) XvCȐ̓__֐܂OÔ悤Ɉړ܂B
px(1000) ]ɎԂA܂XvCȐɏȂ悤ȈړɂȂ邩܂B
XvCȐ̃J[uxɂœKȉ]pxݒ肵Ȃ΂܂B


E"TURN_WAY"
Lړ̐@w肵܂B̂SIׂ܂B

TURN_CLOSE_TO         EEE̕⊮_W֕]ہA]pxȂIŐ񂷂
TURN_ANTICLOSE_TO     EEE̕⊮_W֕]ہA]pxIŐ񂷂
TURN_CLOCKWISE        EEE̕⊮_W֕]ہAɎvŐ񂷂
TURN_COUNTERCLOCKWISE EEE̕⊮_W֕]ہAɔvŐ񂷂

قځATURN_WAY=TURN_CLOSE_TO ̂PłB
܂A̐@͖ʔ҂ł܂B


E"TURN_OPTIMIZE"
Lړ̐@̍œKsǂ true/false Őݒ肵܂B
Q]Ō̐sĂ邽߁ATURN_CLOSE_TOݒ肵ĂړI̕Ɍ߂ɂ́A
ɕ̃Av[`݂܂B

falseFݒ肵ꍇAړÍ̕Aẻ]p̊pxɂvZʂŋ߂܂B
       āApiĽɑ΂rollAyawApitchj́AȂ߂炩ɘA܂B

true Fݒ肵ꍇAړI̕A̉]@ɂAv[`vZA
       Q̉]p̍v菭ȂIŐ񂵂܂B
       p̘A͕ۏ؂܂iNƉāAԏꍇ܂j

[ߑ]
{I TURN_OPTIMIZE=true ̕AYȐړs܂B
AAisɔăL̎p()𐧌䂵ĂꍇATURN_OPTIMIZE=true ł́A
VobNt߂ŋ}ɃNbƂPWOx̎p̋}]邨ꂪ܂B
ł̂ŁAL̎pړƓƗĂꍇ́ATURN_OPTIMIZE=true ǂłA
ړɔăL̎p()𐧌䂵ꍇ TURN_OPTIMIZE=false ̕
pAĂ邽ߌڂ͂悢Ǝv܂BA@I(ŒZ)łȂ܂B


̑
̃XvCȐẂA΍WƂĈړɎgpL邵A
n_Ľ_̍WƂA΍WƂĈړLA
̐ݒ͊eL̃vOɑgݍ܂ĂARRł̎w͂ł܂B



2010/12/15 by Gecchi
2011/08/09 [SPLINE] [MAGNIFICATION] ǉɂ
2011/08/22 Qt@Cɕ
2014/09/18 [ADJUST_MAT] ǉ


