void KinematicPoints::CalculateMachineCoordinates(QVector3D toolPoint)
{
SetToolPoint(toolPoint);
SetTransitionalPoint();
SetS1C1();
SetS5C5();
SetS234C234();
SetRegionalPoint();
SetAB();
SetS2C2();
SetS3C3();
SetS23C23();
SetS4C4();
SetJointPoints();
SetCalculatedJointPoints();
static bool ok = true;
for(int i=0; i<5; ++i)
{
fi[i] = c[i]>s[i]? qAsin(s[i]) : qAcos(c[i]);
if(fi[i]!=fi[i])
{
if(ok)
{
ok = false;
emit outOfRange();
return;
}
else
{
ok = true;
return;
}
}
}
if(lastValidPoint != toolPoint)
emit statusOK();
lastValidPoint = toolPoint;
}
//建立与数据库的连接
void connectDB(const char *connInfo) {
if(!pgConn) //未建立连接
pgConn = PQconnectdb(connInfo);
//检测执行状态
statusOK("error:connection to postgresql",connection);
}
