Beispiel #1
0
        public static Vector <double> GetShift(Vector <double> angles, Vector <double> expectedPosition)
        {
            if (angles.Count < 2)
            {
                throw new ArgumentException("Angles vector length must be at least 2");
            }
            if (expectedPosition.Count != 3)
            {
                throw new ArgumentException("Expected position must be 3 dimensional");
            }

            var derr = MatrixOperations.GetDerrivativeApproximation(angles);
            var res  = (MatrixOperations.GetPosition(angles) - expectedPosition) * -1;

            if (derr.ColumnCount > derr.RowCount)
            {
                var qr  = derr.Transpose().QR(QRMethod.Full);
                var R1  = qr.R.SubMatrix(0, 3, 0, 3);
                var tmp = Vector <double> .Build.DenseOfArray(new double[angles.Count]);

                tmp.SetSubVector(0, 3, R1.Transpose().Inverse() * res);
                return(qr.Q * tmp);
            }
            else
            {
                return(derr.QR().Solve(res));
            }
        }
Beispiel #2
0
        public static double[] GetSolution(double[] startAnglesApproximation, double[] expectedPosition, double accuracy = 0.01, int iterationLimit = 2000)
        {
            if (startAnglesApproximation.Length < 1)
            {
                throw new ArgumentException("Angles array must be at least 1 long");
            }

            if (expectedPosition.Length != 3)
            {
                throw new ArgumentException("Expeced position array must be 3 long");
            }

            var angles = Vector <double> .Build.DenseOfArray(startAnglesApproximation);

            var position = Vector <double> .Build.DenseOfArray(expectedPosition);

            double          dist        = 1;
            Vector <double> newPosition = null;

            for (int i = 0; i < iterationLimit && dist > accuracy; i++)
            {
                var result = GetShift(angles, position);
                angles     += result;
                newPosition = MatrixOperations.GetPosition(angles);
                dist        = (newPosition - position).L2Norm();
            }
            int digits = Math.Max(-(int)Math.Log10(accuracy), 0);

            return(dist > accuracy ? null : angles.ToArray().Select(el =>
            {
                var rem = (el - 180) % 360;
                if (rem < 0)
                {
                    rem += 360;
                }
                return Math.Round(rem - 180, digits);
            }).ToArray());
        }