{tH_̃t@Cɂā
RԂɐݒ肳ꂽȐ̏L(e)ړ肷ۂɎgp܂B
̂Qނ̃t@CɂĒ`Ă܂B

@XvCȐWt@C   EEE splt@C
AȐړ̏t@C           EEE ldrt@C

XvCȐWt@C(*.spl)ɂā
XvCȐ̂ƂƂȂ钸_Wێ܂B
ȉ̂悤ȃtH[}bg̃XvCȐ̍Wt@CłB
(gnuplot̏o̓t@Ĉ܂܎gpoŁI)

samplebase.spl ---------------------------------
[BASEPOINT]
#       X         Y         Z
-1.724577  0.000000  0.000000
-0.964337 -0.088378 -0.344892
-0.501305 -0.055518 -0.298879
-0.179336 -0.031628 -0.240141
 0.123544 -0.016126 -0.165195
 0.362343  0.000000  0.000000
 0.545634  0.038709  0.176104
 0.704048  0.173192  0.372772
 0.864812  0.444651  0.516556
 1.055714  0.626849  0.569336
 1.246407  0.655359  0.547772
 1.365876  0.590994  0.453279
 1.388259  0.465998  0.332581
 1.362117  0.328636  0.211183
 1.242692  0.226675  0.087900
 1.064405  0.202917  0.000000
 0.920421  0.202917  0.000000

[ACCURACY]
0.2

[ADJUST_MAT]
0		0		-1		0
0		1		0		0
1		0		0		0
0		0		-5.0	1

-------------------------------------------------


XvCȐWt@C̊eڂ̐

[BASEPOINT]
XvCȐ̐_WłB
X Y Z ŐݒBwł|Cg͍ő1000܂łłB

[ACCURACY]
XvCȐW_̐xB
BASEPOINTŎw肵_`_̊Ԃɂǂ̂炢̕⊮_ǉ邩Ƃw肵܂B
⊮_́AO̐_ɂAȂ߂炩ȋȐ`悤Ȉʒuɑ}܂BiXvCȐj

1.0  w肷Ɛ_`_̊Ԃɕ⊮_͑}ꂸABASEPOINTwʂ̂܂܂ƂȂB
0.5  w肷Ɗe_`_ɂāA2_ɕ⊮_vZđ}B(܂萧_`_ɁA⊮_1Â})
0.25 w肷Ɗe_`_ɂāA4_ɕ⊮_vZđ}B(⊮_3})
0.1  w肷Ɗe_`_ɂāA10_ɕ⊮_vZđ}B(⊮_9})
0.01 w肷Ɗe_`_ɂāA100_ɕ⊮_vZđ}B(⊮_99})
ƂB

[ADJUST_MAT]
ϊs(4x4)ݒ肵ABASEPOINTW̕␳\łB
ł BASEPOINT̍WɁAX5.0ړ90xY s␳̕ϊsłB

0		0		-1		0
0		1		0		0
1		0		0		0
0		0		-5.0	1

 ADJUST_MAT ȗꍇ́A̒Pʍs񂪐ݒ肳ꂽ̂Ƃ܂B

1		0		0		0
0		1		0		0
0		0		1		0
0		0		0		1




Ȑړ̏t@C(*.ldr)ā

Ȑړ̏t@CƂ́Agq ldr ňȉ̂悤ȃtH[}bg̃t@C̎łB
vOœǂݍ܂AL̓Ɏgp܂BȉTvB

sample.spl -------------------------------------
SPLINE=samplebase.spl
MAG_X=4000000.0
MAG_Y=1125000.0
MAG_Z=4000000.0
CLASS=FixedFrameSpline
SPENT_FRAME=300
ANGLE_VELOCITY=12000
TURN_WAY=TURN_CLOSE_TO
TURN_OPTIMIZE=true
------------------------------------------------


Ȑړ̏t@C̊eڂ̐

E"SPLINE"
XvCȐ̍W̃t@Cw肵܂B
J}؂ŕw\B̏ꍇ͌ĂяõvOŁAvf(0`)̃t@Cgp邩w肪KvłB
၄ 
  pSplManufConn_ = getConnection_SplineManufactureManager("FormationUrydike002/3"); 
     FormationUrydike002.spl  [SPLINE] ɋLĂA3vfڃt@CiJ}؂̂Sځj̍W̃t@Cw

E"MAG_X", "MAG_Y", "MAG_Z"
Oq "SPLINE" w肵Wɑ΂Ĕ{|邱Ƃł܂B
MAG_X, MAG_Y, MAG_Z  XAYAZA̔{̐ݒlłB
Tvł͌̍W(samplebase.spl) X4000000.0{AY1125000.0{A
Z4000000.0{Ɋg債̂XvCȐ̃|CgƂƂӖƂȂ܂B
ڂ̏ȗ\Bȗꍇ͎̂̂悤ɐݒ肵ƂɂȂ܂Bi1.0{gkj

MAG_X=1.0
MAG_Y=1.0
MAG_Z=1.0

܂Agk̔{͕̐T|[g܂B
Y]ꍇ

MAG_X=1.0
MAG_Y=-1.0
MAG_Z=1.0

ƂOKłB


E"CLASS"
XvCړ𐧌䂷 DriverLeader NXw肵܂B
Lǂ̂悤ɃXvCȐړ邩ɉe܂B
w\ȃNX͈ȉSނ݂̂łB
̂悤ȓ܂B

FixedFrameCurveVecDriverLeader
  XvCȐW̊e_i_{⊮_jׂ̗荇Jn_`I_̈ړA(t[)Œňړ郁\bh̃NXłB
    eLێĂ錻݂ VecDriver ̈ړx͖A㏑ݒ肳܂B
    ȐړŔ₷t[B_̍v-1 ŏZꂽlAe_̊ԂŔ₷t[ƂȂ܂BA
    \ߌvZꂽe_̊Ԃ̈ړxL̑xlɁAԌo߂ɔď㏑ݒ肳܂
    ̂ߓ_̖xZƂ̓Xs[hxA_̖xƂ̓Xs[hړƂȂ܂B
    q́A[SPENT_FRAME], [ANGLE_VELOCITY], [TURN_WAY], [TURN_OPTIMIZE] ̐ݒ肪K{łB

FixedVelocityCurveVecDriverLeader
  XvCȐW̊e_i_{⊮_jׂ̗荇Jn_`I_̈ړAxŒňړ郁\bh̃NXłB
    eLێĂړxƎgp܂BJ[u_t߂œ_WĂĂXs[hɉe܂B
    _Ɠ_̊Ԃ̋Ax _velo_mvUnit(=1000) ňړꍇ́A₷t[\ߌvZ܂B
    L̑xɂāAxƂȂ悤Ȕ₷t[̊悶Ē܂B
    q́A[ANGLE_VELOCITY], [TURN_WAY], [TURN_OPTIMIZE] ̐ݒ肪K{łB
    [SPENT_FRAME] ̐ݒ͕słB̓L̑xɂĔ₷t[ϓČ܂

FixedVelocityCurveGeoDriverLeader
  BL̈ړ GeoDriver.execGravitationMvSequenceTwd() ōsĂӂӂ킵ړƂȂ

SteppedCoordCurveVecDriverLeader
  XvCȐW̊Jn_`I_̈ړAPt[ɂPԓ_Wֈړ郁\bh̃NXłB
    e_i_{⊮_j̍WɎXɈړ܂̂ŁAWԊu\ɍׂȂƃ[v悤Ɍ܂B
    ȐŜ̊Jn_`I_̈ړɉt[邩͕ԓ_̐ƈv܂B
    q́A[SPENT_FRAME], [ANGLE_VELOCITY], [TURN_WAY], [TURN_OPTIMIZE] ̐ݒ͕słB
    [SPENT_FRAME]́Aԓ_̍WɈv܂B
    [ANGLE_VELOCITY]́AӖȂA̖ڕW̍WɌāAړ܂B
    [TURN_WAY]ӖȂBOt[Ŏ̖ڕW̍WɌ܂B
    [TURN_OPTIMIZE] ́Aݒł悤ɂAł́AGgafDxUtil::convVectorToRzRy gpāA̖ڕWɕςĂ܂B

E"SPENT_FRAME"
ړɔ₷t[ݒ肵܂B
 CLASS=FixedFrameSpline Ƃꍇ̂ݐݒ\ȍڂłB
XvC̊Jn_`I_̈ړAt[ňړ̂ݒ肵܂B
FixedVelocitySpline ݒ肵ĂꍇA̍ڂ͖܂B


E"ANGLE_VELOCITY"
t[]\ȍőp(1000  1xjݒ肵܂B
LXvCȐW̓__ֈړہAPt[̕]\ȉ]pxݒ肵܂B
̊px傫߂(180000) XvCȐW̓__փJNJNƐ܂OÔ悤Ɉړ܂B
px(1000) ]ɎԂA܂XvCȐ̕⊮_ʉ߂ȂړɂȂ邩܂B
XvCȐ̃J[uxɂA悳ȉ]pxPƐݒ肵Ȃ΂܂B


E"TURN_WAY"
Lړ̐@w肵܂B̂SIׂ܂B

TURN_CLOSE_TO         EEE̕⊮_W֕]ہA]pxȂIŐ񂷂
TURN_ANTICLOSE_TO     EEE̕⊮_W֕]ہA]pxIŐ񂷂
TURN_CLOCKWISE        EEE̕⊮_W֕]ہAɎvŐ񂷂
TURN_COUNTERCLOCKWISE EEE̕⊮_W֕]ہAɔvŐ񂷂

قځATURN_WAY=TURN_CLOSE_TO ̂PłB
܂A̐@͖ʔ҂ł܂B


E"TURN_OPTIMIZE"
Lړ̐@̍œKsǂ true/false Őݒ肵܂B
Q]Ō̐sĂ邽߁ATURN_CLOSE_TOݒ肵ĂړI̕Ɍ߂ɂ́A
ɕ̃Av[`݂܂B

falseFݒ肵ꍇAړÍ̕Aẻ]p̊pxɂvZʂŋ߂܂B
       āApiĽɑ΂rollAyawApitchj́AȂ߂炩ɘA܂B

true Fݒ肵ꍇAړI̕A̉]@ɂAv[`vZA
       Q̉]p̍v菭ȂIŐ񂵂܂B
       p̘A͕ۏ؂܂iNƉāAԏꍇ܂j

[ߑ]
{I TURN_OPTIMIZE=true ̕AYȐړs܂B
AAisɔăL̎p()𐧌䂵ĂꍇATURN_OPTIMIZE=true ł́A
VobNt߂ŋ}ɃNbƂPWOx̎p̋}]邨ꂪ܂B
ł̂ŁAL̎pړƓƗĂꍇ́ATURN_OPTIMIZE=true ǂłA
ړɔăL̎p()𐧌䂵ꍇ TURN_OPTIMIZE=false ̕
pAĂ邽ߌڂ͂悢Ǝv܂BA@I(ŒZ)łȂ܂B


̑
̃XvCȐẂA΍WƂĈړɎgpL邵A
n_Ľ_̍WƂA΍WƂĈړLA
̐ݒ͊eL̃vOɑgݍ܂ĂARRł̎w͂ł܂B



2010/12/15 by Gecchi
2011/08/09 [SPLINE] [MAGNIFICATION] ǉɂ
2011/08/22 Qt@Cɕ
2014/09/18 [ADJUST_MAT] ǉ
2015/12/04 [CLASS] SteppedCoordSpline ǉ
2021/04/05 splt@C  ldrt@CB 
           datt@C  splt@CB
           "CLASS"̐ύX
