double px=T[0][3];
double py=T[1][3];
double pz=T[2][3];
double r13=T[0][2];
double r23=T[1][2];
double r33=T[2][2];
double s3;
double c2;
double c5;
double c4;
// double t1,t2,t3,t4;
od1=pz-le*r33;
s3=-((px-le*r13)^2+(py-le*r23)^2-l2^2-l4^2)/(2*l2*l4);
if (s3>1.0||s3<-1.0)
{
return false;
}
oth3=asin(s3);
c2=((px-le*r13)*(l4*sin(oth3)-l2)-(py-le*r23)*l4*cos(oth3))/(l2^2+l4^2-2*l2*l4*sin(oth3));
在编译时，总是出现错误：error: expression must have integral type 求高手解答 不明白 谢谢 |
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