hMatrix T_hMatrix(double *theta, double *alpha, double *a, double *d, int joint){
double Theta[7], Alpha[7], A[7], D[7];
for(int i=0; i<joint; i++){
Theta[i] = *theta;
Alpha[i] = *alpha;
A[i] = *a;
D[i] = *d;
theta++;
alpha++;
a++;
d++;
}
hMatrix Temp1(4,4), T(4,4);
double value[16] = {1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,1};
T.SET(4,4,&value[0]);
for(int i=0; i<joint; i++){
Temp1 = A_hMatrix(Theta[i],Alpha[i],A[i],D[i]);
T = T*Temp1;
}
return T;
}
void Add(void){
char opt;
fa=fopen("acc.dat","ab");
clrscr();
Temp1();
gotoxy(19,8); scanf(" "); gets(rec.rno);
gotoxy(19,10); scanf(" "); gets(rec.nm);
gotoxy(19,12); scanf(" "); gets(rec.snm);
gotoxy(19,14); rec.mi=getche(); rec.mi=toupper(record.mi);
gotoxy(19,16); rec.ccode=getche();
rec.ccode=toupper(rec.ccode);
gotoxy(5,22); clreol(); printxy(79,22,"º");
fprintf(fp,"%s %s %s %c%c",rec.snum,rec.fname,rec.sname,rec.mi,rec.ccode);
gotoxy(5,21); clreol(); center(21,"Record successfully added!");
printxy(79,21,"º"); gotoxy(53,22); delay(1000);
center(22,"Press any key to go to main menu..."); getch();
fclose(fa);
}
