Ongoing80 #3684 CF AOI Review 전설비 Review History Defect이미지 클릭시 Offset 자동 계산...

LYW

2021-10-26 aef69faaca3401fa1224884e686bce36b0c88acb

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#include "StdAfx.h"
#include "MotorCalculator.h"
#include <math.h>
 
CMotorCalculator::CMotorCalculator(int nIndex)
{
    m_nIndex = nIndex;
    Reset();
}
 
CMotorCalculator::~CMotorCalculator(void)
{
    Reset();
}
 
void CMotorCalculator::Reset()
{
    m_vectorDesignPos.clear();
    m_vectorMotorPos.clear();
    m_sCalculateResult.Reset();
}
 
void CMotorCalculator::SetDesignPosition(const VectorDouble& vectorPosX, const VectorDouble& vectorPosY)
{
    if (vectorPosX.size()!=3) return;
 
    if (vectorPosX.size()!=vectorPosY.size()) return;
 
    m_vectorDesignPos.clear();
 
    for (int i=0; i<3; i++)
    {
        m_vectorDesignPos.push_back(SPosition2D(vectorPosX[i], vectorPosY[i]));
    }
}
 
void CMotorCalculator::SetMotorPosition(const VectorDouble& vectorPosX, const VectorDouble& vectorPosY)
{
    if (vectorPosX.size()!=3) return;
 
    if (vectorPosX.size()!=vectorPosY.size()) return;
 
    m_vectorMotorPos.clear();
 
    for (int i=0; i<3; i++)
    {
        m_vectorMotorPos.push_back(SPosition2D(vectorPosX[i], vectorPosY[i]));
    }
}
 
int CMotorCalculator::CalculateResult()
{
    if (m_vectorDesignPos.size()!=3) return 0;
 
    if (m_vectorDesignPos.size()!=m_vectorMotorPos.size()) return 0;
 
    m_sCalculateResult.dStraghtValue = m_vectorMotorPos[0].dPositionY - m_vectorMotorPos[1].dPositionY;
 
    m_sCalculateResult.dStraightLineA = (m_vectorMotorPos[1].dPositionY-m_vectorMotorPos[0].dPositionY) / (m_vectorMotorPos[1].dPositionX-m_vectorMotorPos[0].dPositionX);
    m_sCalculateResult.dStraightLineB = ((m_vectorMotorPos[1].dPositionX*m_vectorMotorPos[0].dPositionY)-(m_vectorMotorPos[0].dPositionX*m_vectorMotorPos[1].dPositionY)) / (m_vectorMotorPos[1].dPositionX-m_vectorMotorPos[0].dPositionX);
 
    m_sCalculateResult.dOrthogonalLineA = (m_vectorMotorPos[2].dPositionY-m_vectorMotorPos[1].dPositionY) / (m_vectorMotorPos[2].dPositionX-m_vectorMotorPos[1].dPositionX);
    m_sCalculateResult.dOrthogonalLineB = ((m_vectorMotorPos[2].dPositionX*m_vectorMotorPos[1].dPositionY)-(m_vectorMotorPos[1].dPositionX*m_vectorMotorPos[2].dPositionY)) / (m_vectorMotorPos[2].dPositionX-m_vectorMotorPos[1].dPositionX);
 
    // theta
    m_sCalculateResult.dOrthogonalTheta = atan((m_sCalculateResult.dStraightLineA-m_sCalculateResult.dOrthogonalLineA) / (1.0+(m_sCalculateResult.dStraightLineA*m_sCalculateResult.dOrthogonalLineA)));
    
 
 
    
    return 1;
}