自己做的在C# 中计算机器人坐标系平移旋转的库

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于 2025-03-26 17:09:29 发布 · 234 阅读

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#c# #机器人 #开发语言

using NumSharp;
using System;

namespace MyMath
{
   
   
    public class MyCover
    {
   
   
        /// <summary>
        /// 传入参数说明
        /// </summary>
        /// <param name="px">图纸上该点的x坐标</param>
        /// <param name="py">图纸上该点的y坐标</param>
        /// <param name="pz">图纸上该点的z坐标</param>
        /// <param name="x">在X轴上位移了x长度</param>
        /// <param name="y">在Y轴上位移了y长度</param>
        /// <param name="z">在Z轴上位移了z长度</param>
        /// <param name="a">工件绕Z轴旋转的角度</param>
        /// <param name="b">工件绕Y轴旋转的角度</param>
        /// <param name="r">工件绕X轴旋转的角度</param>
        public MyCover(float px, float py, float pz, float x, float y, float z, float a, float b, float r)
        {
   
   
            this.x = x;
            this.y = y;
            this.z = z;
            this.a = a;
            this.b = b;
            this.r = r;
            this.rot = new float[4, 4]
            {
   
   
                {
   
   
                    this.Cos(this.a)*this.Cos(this.b),
                    this.Cos(this.a)*this.Sin(this.b)*this.Sin(this.r)-this.Sin(this.a)*this.Cos(this.r)