void SimplexParameters::update(double y, const MnAlgebraicVector& p) {
theSimplexParameters[jh()] = std::pair<double, MnAlgebraicVector>(y, p);
if(y < theSimplexParameters[jl()].first) theJLow = jh();
unsigned int jh = 0;
for(unsigned int i = 1; i < theSimplexParameters.size(); i++) {
if(theSimplexParameters[i].first > theSimplexParameters[jh].first) jh = i;
}
theJHigh = jh;
return;
}
void Print(ostream& os, const VarValue& v) override {
JsonHandle jh(CopyToJsonT(v));
size_t flags = (Indent ? JSON_INDENT(Indent) : 0) | (Compact ? JSON_COMPACT : 0);
if ((os.flags() & ios::adjustfield) == ios::left)
flags |= JSON_COMPACT;
if (char *s = json_dumps(jh, flags)) {
os << s;
FreeWrap(s);
} else
os << "null";
}
std::wstring JRE::getJREpathOnce()
{
wchar_t buf[MAX_PATH];
if (::GetEnvironmentVariable( _T("JAVA_HOME"), buf, MAX_PATH ))
{
std::wstring jh(buf);
if ( !jh.empty() )
{
std::wstring path = jh + _T("\\jre\\bin\\client\\jvm.dll");
if ( mol::Path::exists(path) )
return path;
path = jh + _T("\\jre\\bin\\server\\jvm.dll");
if ( mol::Path::exists(path) )
return path;
}
}
mol::RegKey key(HKEY_LOCAL_MACHINE, KEY_READ);
mol::RegKey soft = key.open(_T("SOFTWARE"),KEY_READ);
mol::RegKey java;
try {
java = soft.open(_T("JavaSoft"),KEY_READ);
}
catch(...)
{
mol::RegKey wow = soft.open(_T("Wow6432Node"),KEY_READ);
java = wow.open(_T("JavaSoft"),KEY_READ);
}
mol::RegKey jre = java.open(_T("Java Runtime Environment"),KEY_READ);
mol::RegKey ver;
try {
try {
ver = jre.open(_T("1.8"),KEY_READ);
}
catch(...)
{
ver = jre.open(_T("1.7"),KEY_READ);
}
}
catch(...)
{
ver = jre.open(_T("1.6"),KEY_READ);
}
std::wstring path = ver.get(_T("RuntimeLib"));
return path;
}
/**
*@brief サインスマート製4自由度ロボットアーム制御クラスのコンストラクタ
*/
RobotArm::RobotArm()
{
jl = new Vector3d[4];
pl = new Vector3d[4];
l[0] = ArmLength0;
l[1] = ArmLength1;
l[2] = ArmLength2;
l[3] = ArmLength3;
lh = HandLength;
lf = FingerLength;
m[0] = ArmMath0;
m[1] = ArmMath1;
m[2] = ArmMath2;
m[3] = ArmMath3;
mh = HandMath;
mf = FingerMath;
wi = ArmWidth;
wf = FingerWidth;
hi = ArmHeight;
hf = FingerHeight;
rh = HandRadius;
jl[0](0) = 0;
jl[0](1) = 0;
jl[0](2) = 0;
pl[0](0) = jl[0](0);
pl[0](1) = jl[0](1);
pl[0](2) = jl[0](2)+l[0]/2;
jl[1](0) = pl[0](0);
jl[1](1) = pl[0](1);
jl[1](2) = pl[0](2)+l[0]/2;
pl[1](0) = jl[1](0);
pl[1](1) = jl[1](1);
pl[1](2) = jl[1](2)+l[1]/2;
jl[2](0) = pl[1](0);
jl[2](1) = pl[1](1);
jl[2](2) = pl[1](2)+l[1]/2;
pl[2](0) = jl[2](0);
pl[2](1) = jl[2](1);
pl[2](2) = jl[2](2)+l[2]/2;
jl[3](0) = pl[2](0);
jl[3](1) = pl[2](1);
jl[3](2) = pl[2](2)+l[2]/2;
pl[3](0) = jl[3](0);
pl[3](1) = jl[3](1)+l[3]/2;
pl[3](2) = jl[3](2);
jh(0) = pl[3](0);
jh(1) = pl[3](1)+l[3]/2;
jh(2) = pl[3](2);
ph(0) = jh(0);
//pyh = jyh+lh/2;
ph(1) = jh(1);
ph(2) = jh(2);
jf(0) = ph(0);
//jyf = pyh+lh/2;
jf(1) = ph(1);
jf(2) = ph(2);
pf(0) = jf(0);
pf(1) = jf(1);
pf(2) = jf(2)-lf/2;
hw = 0.02;
setAngle(0, 0, 0, 0);
dt = 0.01;
//endTime = -1;
//time = 0;
/*targetPoint(0) = 0;
targetPoint(1) = 0;
targetPoint(2) = 0;
startPoint(0) = 0;
startPoint(1) = 0;
startPoint(2) = 0;*/
setOffset(0,0,0,0);
Kp = 10;
Kjp = 10;
openGripper();
maxSpeedCartesian = Vector3d(1000, 1000, 1000);
maxSpeedJoint[0] = 1000;
maxSpeedJoint[1] = 1000;
maxSpeedJoint[2] = 1000;
maxSpeedJoint[3] = 1000;
softUpperLimitCartesian = Vector3d(1000, 1000, 1000);
softLowerLimitCartesian = Vector3d(-1000, -1000, -1000);
pauseFalg = false;
stopFalg = false;
//homePosition = Vector3d(0, 0, 0);
softUpperLimitJoint[0] = MOTOR_UPPER__LIMIT_0;
softUpperLimitJoint[1] = MOTOR_UPPER__LIMIT_1;
softUpperLimitJoint[2] = MOTOR_UPPER__LIMIT_2;
softUpperLimitJoint[3] = MOTOR_UPPER__LIMIT_3;
softLowerLimitJoint[0] = MOTOR_LOWER__LIMIT_0;
softLowerLimitJoint[1] = MOTOR_LOWER__LIMIT_1;
softLowerLimitJoint[2] = MOTOR_LOWER__LIMIT_2;
softLowerLimitJoint[3] = MOTOR_LOWER__LIMIT_3;
serbo = true;
manifactur = "SainSmart";
type = "DIY 4-Axis Servos Control Palletizing Robot Arm";
axisNum = 4;
cmdCycle = 50;
isGripper = false;
//speedPoint = 10;
//speedJointPos = 1;
MaxSpeedJoint[0] = 2;
MaxSpeedJoint[1] = 2;
MaxSpeedJoint[2] = 2;
MaxSpeedJoint[3] = 2;
MaxSpeedCartesianTrans = 0.5;
MaxSpeedCartesianRot = 2;
MinTime = dt;
jointOffset[0] = MOTOR_OFFSET_0;
jointOffset[1] = MOTOR_OFFSET_1;
jointOffset[2] = MOTOR_OFFSET_2;
jointOffset[3] = MOTOR_OFFSET_3;
}
