The second programming exercise of real-time control software design

//point.h
1 #ifndef Point_h2 #definePoint_h3 class Point4 {5     Private :6         Doublepx,py;7      Public :8     9         Doublegetpx ()Ten         { One             returnpx; A         } -         Doublegetpy () -         { the             returnpy; -         } -         voidSETP (DoubleXDoubley) -         { +px=x; -py=y; +         } A }; at #endif

//solver.h
1 #ifndef Solver_h2 #defineSolver_h3#include <math.h>4#include <iostream>5#include"Point.h"6 using namespacestd;7 classSolver8 {9     Private:Ten         Doubleang1,ang2; One Point p; A      Public: -      -         voidSetp (point p1) the         { -p=P1; -         } -         voidSetang (DoubleA1,DoubleA2) +         { -ang1=a1/ the*3.1415926; +ang2=a2/ the*3.1416926; A         } at         voidOutang () -         { -cout<<"the corner of the first manipulator is"<<ang1/3.1415926* the<<Endl; -cout<<"the corner of the second manipulator is"<<ang2/3.1415926* the<<Endl; -         } -         voidOutxy () in         { -cout<<"The x-coordinate is"&LT;&LT;P.GETPX () <<Endl; tocout<<"the y-coordinate is"<<p.getpy () <<Endl; +         } -         voidAngtdik () the         { *P.SETP ( -*cos (ANG1) + -*cos (ANG2), -*sin (ANG1) + -*sin (ang2)); $         Panax Notoginseng         } -         voidDiktang () the         { +             Doublesx=p.getpx (); A             Doublesy=p.getpy (); the             DoubleQ=atan (sy/SX); +             DoubleL=SQRT (sx*sx+sy*sy); -Ang1=q+acos (-l/ $); $Ang2=acos ((l*l-20000)/20000)-3.1415926-ang1; $         } - }; - #endif

//robot.h
#ifndef Robot_h#defineRobot_h#include"Coord.h"#include"Trans.h"#include"Solver.h"classrobot{Private:        Doublel1,l2,rang1,rang2;  Public: Robot () {L1= -; L2= -; Rang1=0; Rang2=0; }        voidptpmove (Coord c1,point p) {Trans T;            Solver S;            Point P1; P1=T.TTW (c1,p);            S.setp (p1);            S.diktang ();                    S.outang (); }};#endif

//coord.h
#ifndef Coord_h#defineCoord_h#include"Point.h"classcoord{Private: Point P1; Doubleang;  Public :        /*Coord (Point p,double ang1) {p1=p;        Ang=ang1; }*/        voidSetcoord (Point P,Doubleang1) {P1=p; Ang=ang1; } point Getp1 () {returnP1; }        DoubleGetang () {returnang/ the*3.1415926; }};#endif

//trans.h
#ifndef Trans_h
#define Trans_h
#include "Point.h"
#include "Coord.h"
#include <math.h>
Class Trans
{
Public:

Point TTW (Coord c1,point p3)
{
Point P1=C1.GETP1 ();
Point P2;
Double Ang=c1.getang ();
Double x,y,x1,y1;
X=P3.GETPX ();
Y=p3.getpy ();
X1=x*cos (ANG)-y*sin (ANG) +p1.getpx ();
Y1=x*sin (ANG) +y*cos (ANG) +p1.getpy ();
P2.SETP (X1,Y1);
return p2;
}

};
#endif

Main.cpp
#include <iostream>#include"Point.h"#include"Solver.h"#include"Robot.h"#include"Coord.h"#include"Trans.h" using namespacestd;intMain () {Robot R;    Point P;    Point P1; P.SETP ( -, -); P1.SETP ( +, -);    Coord T; T.setcoord (P, $);    R.ptpmove (T,P1); return 0;}

Operation Result:

The second programming exercise of real-time control software design