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[23:47:08] <rue_mohr> TransX2, how can we help you
[23:47:09] <rue_mohr> TransX2, how can we help you
[23:47:23] <aggrav8d> for example, think of my stewart platform. imagine I want to rotate around a point 1cm in front of the end effector. The plate of the end effector would keep facing the invisible point, even as it circled that point.
[23:47:23] <aggrav8d> for example, think of my stewart platform. imagine I want to rotate around a point 1cm in front of the end effector. The plate of the end effector would keep facing the invisible point, even as it circled that point.
[23:47:26] <TransX2> Are you guys working on a project?
[23:47:26] <TransX2> Are you guys working on a project?
[23:47:42] <rue_mohr> I'm working on about 21 projects
[23:47:42] <rue_mohr> I'm working on about 21 projects
[23:47:47] <rue_mohr> about 19 of them are mine
[23:47:47] <rue_mohr> about 19 of them are mine
[23:47:53] <aggrav8d> he's trying to check my matrix math so i can finish implementing arc movements on my stewart platform.
[23:47:53] <aggrav8d> he's trying to check my matrix math so i can finish implementing arc movements on my stewart platform.
[23:47:56] <rue_mohr> 18
[23:47:56] <rue_mohr> 18
[23:48:05] <aggrav8d> it's going to be rented for a show tomorrow and I'd love to have the new motion working for demos.
[23:48:05] <aggrav8d> it's going to be rented for a show tomorrow and I'd love to have the new motion working for demos.
[23:48:25] <TransX2> Mine, as in, no
[23:48:25] <TransX2> Mine, as in, no
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[23:48:43] <TransX2> T for work.
[23:48:43] <TransX2> T for work.
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[23:49:14] <rue_mohr> aggrav8d, do you translate it to get it to the edge of the arc?
[23:49:43] <rue_mohr> if I knew more I could prolly do this in a few mins...
[23:49:52] <rue_mohr> not what I meant
[23:50:00] <rue_mohr> if I knew more about your code ...
[23:50:03] <TransX2> What language do you guys program in for robotics? C++?
[23:50:18] <rue_mohr> c++ is silly, just C
[23:50:24] <TransX2> Oh.
[23:50:37] <TransX2> I know a little java...
[23:50:39] <rue_mohr> void Scale3d (point3d_t *this, point3d_t that) ;
[23:50:39] <rue_mohr> void Rotate3d (point3d_t *this, point3d_t that) ;
[23:50:39] <rue_mohr> void Translate3d (point3d_t *this, point3d_t that) ;
[23:50:47] <aggrav8d> a mix of c and c++
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[23:51:25] <aggrav8d> + is vector addition. - is vector subtraction. a * b is scalar multiplication. (scalar is always second)
[23:51:56] <aggrav8d> .Normalize(), Length(), LengthSquared() are all pretty obvious. ^ is cross product. | is dot product. those are about all I use.
[23:52:20] <rue_mohr> why didn't you make ^ rotation around a secondary point }:)
[23:52:51] <aggrav8d> I have rotation around a normal. but it doesn't help me if I don't know the radians to turn.
[23:53:03] <aggrav8d> and I don't know it because I don't know how far along the arc I'm moving each step.
[23:53:56] <TransX2> In order to be good at programming, do i need to know alot of math?
[23:53:58] <rue_mohr> ah I see
[23:54:14] <rue_mohr> 1 sec, let me work out how I usually deal with that
[23:54:25] <rue_mohr> TransX2, none at all
[23:54:31] <aggrav8d> I don't know if it would be better to try and find the distance, calculate the amount of rotation around the point, then rotate the matrix around the normal by the amount found.... to me that sounds more comlicated, somehow.
[23:54:40] <aggrav8d> TransX2 - depends on what you program.
[23:54:54] <rue_mohr> but you know the normal of the circular path yes?
[23:55:23] <aggrav8d> yes. workplane.up is the normal.
[23:55:45] <rue_mohr> I know why this dosn't come up for me
[23:55:54] <TransX2> Really!? well, what kinda stuff doesn't require alot of math? Operating systems? Browsers?
[23:56:03] <rue_mohr> I rotate on a std plane and then rotate/translate the result
[23:56:07] <aggrav8d> as I move around the arc_center, I recalculate workplane.left and workplane.forward. workplane.forward points from the ee.pos to the arc_center.
[23:56:37] <aggrav8d> TransX2 - maybe you're doing some kind of electronically controled art installation.
[23:56:40] <rue_mohr> hmm, my methods of buildig the points are completely different
[23:56:56] <aggrav8d> TransX2 - feedback induced etc etc
[23:57:19] <aggrav8d> which points?
[23:57:21] <rue_mohr> I build complex normals via modification of a standard normal
[23:57:41] <aggrav8d> that sentence says nothing to me.
[23:58:22] <rue_mohr> lets take a model where we have a moon around a planet around a sun
[23:58:32] <rue_mohr> yes?
[23:58:34] <aggrav8d> sure
[23:58:42] <TransX2> Oh your talking about robotics programming, right? Then, software programming r
[23:58:52] <rue_mohr> I start everything with Y up, in the middle of the sun
[23:59:00] <TransX2> Equires math?
[23:59:11] <aggrav8d> TransX2 - old video games like troll's tale didn't need a lot. how about return to ZORK?
[23:59:16] <rue_mohr> so, first I rotate the moon
[23:59:34] <rue_mohr> then I translate it its radius from the planet
[23:59:35] <aggrav8d> rue_ - normally i do z up. but i'll go with your convention.