private double[,] GetV(double[,] X, double[,] Y, CoordTrans7Param dpp)
{
int rowNum = X.GetLength(0);
double[,] B, F, A, B2, B3, F2, V;
double[,] AT = MatrixTool.Init(6, 3);
A = GetA();
MatrixTool.AT(A, ref AT);
MatrixTool.MutliConst(ref AT, 1 / (1 + (1 + k) * (1 + k)));
F = GetF(X, Y);
B = GetB(X);
B2 = MatrixTool.Init(3, 7);
B3 = MatrixTool.Init(3, 1);
F2 = MatrixTool.Init(rowNum, 1);
for (int i = 0; i < rowNum / 3; i++)
{
MatrixTool.CopySub(B, i * 3, 0, 3, 7, ref B2, 0, 0);
MatrixTool.Multi(B2, dpp.values, ref B3);
MatrixTool.CopySub(B3, 0, 0, 3, 1, ref F2, i * 3, 0);
}
MatrixTool.Sub(F, F2, ref F2);
V = specialMulti(AT, F2);
return(V);
}
private double[,] GetB(double[,] X)
{
int rowNum = X.GetLength(0);
double[,] B = MatrixTool.Init(rowNum, 7);
double[,] M = GetM();
double[,] Mdx = GetMdx();
double[,] Mdy = GetMdy();
double[,] Mdz = GetMdz();
double[,] mi = MatrixTool.Ident(3);
double[,] MX, MY, MZ, MK;
MK = specialMulti(M, X);
MX = specialMulti(Mdx, X);
MY = specialMulti(Mdy, X);
MZ = specialMulti(Mdz, X);
for (int i = 0; i < rowNum; i += 3)
{
MatrixTool.CopySub(mi, 0, 0, 3, 3, ref B, i, 0);
}
MatrixTool.CopySub(MX, 0, 0, rowNum, 1, ref B, 0, 3);
MatrixTool.CopySub(MY, 0, 0, rowNum, 1, ref B, 0, 4);
MatrixTool.CopySub(MZ, 0, 0, rowNum, 1, ref B, 0, 5);
MatrixTool.CopySub(MK, 0, 0, rowNum, 1, ref B, 0, 6);
return(B);
}
private double[,] GetM() //M=Mx*My*Mz? or M=Mz*My*Mx?
{
double[,] M = new double[3, 3];
MatrixTool.Multi(GetMz(), GetMy(), ref M);
MatrixTool.Multi(M, GetMx(), ref M);
return(M);
}
private double[,] GetMdz()
{
double[,] mt = { { -Math.Sin(rz), Math.Cos(rz), 0 }, { -Math.Cos(rz), -Math.Sin(rz), 0 }, { 0, 0, 0 } };
double[,] m = new double[3, 3];
MatrixTool.Multi(mt, GetMy(), ref m);
MatrixTool.Multi(m, GetMx(), ref m);
return(m);
}
private double[,] GetMdy()
{
double[,] mt = { { -Math.Sin(ry), 0, -Math.Cos(ry) }, { 0, 0, 0 }, { Math.Cos(ry), 0, -Math.Sin(ry) } };
double[,] m = new double[3, 3];
MatrixTool.Multi(GetMz(), mt, ref m);
MatrixTool.Multi(m, GetMx(), ref m);
return(m);
}
private double[,] GetMdx()
{
double[,] mt = { { 0, 0, 0 }, { 0, -Math.Sin(rx), Math.Cos(rx) }, { 0, -Math.Cos(rx), -Math.Sin(rx) } };
double[,] m = new double[3, 3];
MatrixTool.Multi(GetMz(), GetMy(), ref m);
MatrixTool.Multi(m, mt, ref m);
return(m);
}
/// <summary>
/// X¾ØÕóÈçÏÂËùʾ
///
///
/// </summary>
/// <param name="X"></param>
/// <param name="Y"></param>
/// <returns></returns>
public double CalculateTrans7Param(double[,] X, double[,] Y)
{
int PtNum = X.GetLength(0) / 3;
double[,] B;
double[,] F;
double[,] BT = MatrixTool.Init(7, 3 * PtNum);
double[,] BTB = MatrixTool.Init(7, 7);
double[,] BTF = MatrixTool.Init(7, 1);
//init pararm
CoordTrans7Param dpp = new CoordTrans7Param();
Set4Param(0, 0, 0, 0);
this.SetRotationParamMM(0, 0, 0);
//debug
//this.TransCoord(X[0,0],X[1,0],X[2,0],out x2,out y2,out z2);
int round = 0;
while (round++ < 20)
{
F = GetF(X, Y);
B = GetB(X);
MatrixTool.AT(B, ref BT);
MatrixTool.Multi(BT, B, ref BTB);
MatrixTool.Inv(BTB);
MatrixTool.Multi(BT, F, ref BTF);
MatrixTool.Multi(BTB, BTF, ref dpp.values);
if (dpp.isSmall())
{
break;
}
else
{
MatrixTool.Add(this.values, dpp.values, ref this.values);
}
}
//this.TransCoord(X[0,0],X[1,0],X[2,0],out x2,out y2,out z2);
double[,] V = GetV(X, Y, dpp);
double vMax = -1;
for (int i = 0; i < V.GetLength(0); i++)
{
if (Math.Abs(V[i, 0]) > vMax)
{
vMax = Math.Abs(V[i, 0]);
}
}
return(vMax);
}
private double[,] GetA()
{
double[,] M = GetM();
double[,] I2 = MatrixTool.Ident(3);
double[,] A = MatrixTool.Init(3, 6);
MatrixTool.MutliConst(ref I2, -1);
MatrixTool.MutliConst(ref M, (1 + k));
MatrixTool.CopySub(M, 0, 0, 3, 3, ref A, 0, 0);
MatrixTool.CopySub(I2, 0, 0, 3, 3, ref A, 0, 3);
return(A);
}
private double[,] GetF(double[,] X, double[,] Y)
{
double[,] f0;
double[,] qx = MatrixTool.Init(X.GetLength(0), 1);
double[,] K = { { -dx }, { -dy }, { -dz } };
double[,] S = { { 1 + k } };
MatrixTool.Multi(X, S, ref qx);
double[,] M = GetM();
qx = specialMulti(M, qx);
MatrixTool.Sub(qx, Y, ref qx);
f0 = specialSub(K, qx);
return(f0);
}
public void TransCoord(double x1, double y1, double z1, out double x2, out double y2, out double z2)
{
double[,] Xi = { { x1 }, { y1 }, { z1 } };
double[,] DX = { { dx }, { dy }, { dz } };
double[,] tY = new double[3, 1];
double[,] K = { { 1 + k } };
double[,] M = GetM();
MatrixTool.Multi(Xi, K, ref tY);
MatrixTool.Multi(M, tY, ref tY);
MatrixTool.Add(tY, DX, ref tY);
x2 = tY[0, 0];
y2 = tY[1, 0];
z2 = tY[2, 0];
}
private double[,] specialSub(double[,] m, double[,] X)
{
int rowNumM = m.GetLength(0);
int colNumM = m.GetLength(1);
int rowNumX = X.GetLength(0);
int colNumX = X.GetLength(1);
int lines = rowNumX / rowNumM;
double[,] subX = MatrixTool.Init(rowNumM, colNumX);
double[,] res = MatrixTool.Init(rowNumX, colNumX);
for (int i = 0; i < rowNumX; i += rowNumM)
{
MatrixTool.CopySub(X, i, 0, rowNumM, colNumX, ref subX, 0, 0);
MatrixTool.Sub(m, subX, ref subX);
MatrixTool.CopySub(subX, 0, 0, rowNumM, colNumX, ref res, i, 0);
}
return(res);
}
private double[,] specialMulti(double[,] m, double[,] X)
{
int rowNumM = m.GetLength(0);
int colNumM = m.GetLength(1);
int rowNumX = X.GetLength(0);
int colNumX = X.GetLength(1);
int lines = rowNumX / colNumM;
double[,] mt = MatrixTool.Init(rowNumM, colNumX);
double[,] subX = MatrixTool.Init(colNumM, colNumX);
double[,] res = MatrixTool.Init(rowNumM * lines, colNumX);
for (int i = 0; i < lines; i++)
{
MatrixTool.CopySub(X, i * colNumM, 0, colNumM, colNumX, ref subX, 0, 0);
MatrixTool.Multi(m, subX, ref mt);
MatrixTool.CopySub(mt, 0, 0, rowNumM, colNumX, ref res, i * rowNumM, 0);
}
return(res);
}