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combine(sincos):
[ cos(B + t), -sin(B + t), 0, d + L*cos(t) + x*cos(t) - y*sin(t)]
[ sin(B + t), cos(B + t), 0,
L*sin(t) + y*cos(t) + x*sin(t)]
[
0,
0, 1,
0]
[
0,
0, 0,
1]
combine(sinhcosh):
[
)
[
)
[
[
)
[
)
[
rewrite(tan):
[
((tan(t/2)^2 - 1)*(tan(B/2)^2 - 1))/((tan(t/2)^2 + 1)*(tan(B/2)^2 + 1)) (4*tan(B/2)*tan(t/2))/((tan(t/2)^2 + 1)*(tan(B/2)^2 + 1)), (2*tan(B/2)*(tan(t/2)
^2 - 1))/((tan(t/2)^2 + 1)*(tan(B/2)^2 + 1)) + (2*tan(t/2)*(tan(B/2)^2 - 1))/((t
an(t/2)^2 + 1)*(tan(B/2)^2 + 1)), 0, d - (L*(tan(t/2)^2 - 1))/(tan(t/2)^2 + 1) (x*(tan(t/2)^2 - 1))/(tan(t/2)^2 + 1) - (2*y*tan(t/2))/(tan(t/2)^2 + 1)]
[ - (2*tan(B/2)*(tan(t/2)^2 - 1))/((tan(t/2)^2 + 1)*(tan(B/2)^2 + 1)) - (2*tan(t
/2)*(tan(B/2)^2 - 1))/((tan(t/2)^2 + 1)*(tan(B/2)^2 + 1)), ((tan(t/2)^2 - 1)*(
tan(B/2)^2 - 1))/((tan(t/2)^2 + 1)*(tan(B/2)^2 + 1)) - (4*tan(B/2)*tan(t/2))/((t
an(t/2)^2 + 1)*(tan(B/2)^2 + 1)), 0,
(2*L*tan(t/2))/(tan(t/2)^2 + 1) (y*(tan(t/2)^2 - 1))/(tan(t/2)^2 + 1) + (2*x*tan(t/2))/(tan(t/2)^2 + 1)]
[
0,
0, 1,
0]
[
0,
0, 0,
1]
mwcos2sin:
[ (2*sin(B/2)^2 - 1)*(2*sin(t/2)^2 - 1) - sin(B)*sin(t), sin(B)*(2*sin(t/2)^2
- 1) + sin(t)*(2*sin(B/2)^2 - 1), 0, d - L*(2*sin(t/2)^2 - 1) - x*(2*sin(t/2)^2
- 1) - y*sin(t)]
[ - sin(B)*(2*sin(t/2)^2 - 1) - sin(t)*(2*sin(B/2)^2 - 1), (2*sin(B/2)^2 - 1)*(2
*sin(t/2)^2 - 1) - sin(B)*sin(t), 0,
L*sin(t) - y*(2*sin(t/2)^2
- 1) + x*sin(t)]
[
0,
0, 1,
0]
[
0,
0, 0,
1]
collect(x):
[
)
[
)
[
>> x=0
x =
0
>> y=0
y =
0
>> t=0
t =
0
>> eval (oTp)
ans =
[ cos(B), -sin(B), 0, L + d]
[ sin(B), cos(B), 0,
0]
[
0,
0, 1,
0]
[
0,
0, 0,
1]
>> L=3
L =
3
>> d=2
d =
2
>> eval (oTp)
ans =
[ cos(B), -sin(B), 0, 5]
[ sin(B), cos(B), 0, 0]
[
0,
0, 1, 0]
[
0,
0, 0, 1]
>> B=30
B =
30
>> eval (oTp)
ans =
0.1543
-0.9880
0
0
0.9880
0.1543
0
0
0
0
1.0000
0
5.0000
0
0
1.0000