7-19

Robotislove · Jul 19, 2019 · c12346f · c12346f
1 parent 510b24b
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diff --git a/B样条.zip b/B样条.zip
diff --git a/姿态插补/RGBD.m b/姿态插补/RGBD.m
@@ -0,0 +1,24 @@
+% T1 = [0.0215439;0.142391;1.3;1];
+% T2 = [0.0181611;0.0413232;1.317;1];
+% T3 = [-0.182179;0.337192;1.32;1];
+% t4 = [0.038102;-0.152613;1.529;1];
+% RT = [-0.0975,-0.0841,-1.1207,1.9007;
+%       1.1058,0.3741,-0.1848,0.0946;
+%       0.0114,-1.0080,0.0268,0.6401;
+%       0,    0,   0,   1];
+% 
+% s = RT*T2
+% S1 = RT*t4
+
+
+T = [-0.2403;-0.163511;1.37;1];
+T1 = [-0.140227;-0.135413	;1.466;1];
+
+RT = [0.0059,-0.2663,-0.9811,1.7265;
+      0.9354,0.0942,0.1211,0.0697;
+      0.0101,-0.9493,0.2592,0.1217;
+      0,    0,   0,   1];
+
+S = RT*T1
+
+
diff --git a/三次样条插值/test.m → 样条插值/B样条/spline.m b/三次样条插值/test.m → 样条插值/B样条/spline.m
@@ -4,12 +4,23 @@
 %原始数据点
 % X = [0, 0.422955130, 0.598557636, 0.734591320, 0.850603738, 0.953558869, 1.056514000, 1.159469131, 1.274332912, 1.409208218, 1.585026197, 2];
 % Y = [0, 0.14881055128822188, 0.2976136037517004, 0.4464166562151788, 0.5952197086786574, 0.7440227611421358, 0.8928258136056142, 1.0416288660690929, 1.1904319185325714, 1.3392349709960498, 1.4880380234595283, 1.6368410759230068];
-X = [0,1,2,3,4,5,6,7,8,9,10];
-Y = [0,1,2,3,3,3,3,3,2,1,0];
-s = csapi(X,Y);   %三次样条
+% X = [0,1,2];
+% Y = [0,1,3];
+for i=1:20
+    X(i)=i-1;
+end
+j=1;
+for i=0:4/19*pi:4*pi
+    Y(j)=sin(i);
+    j=j+1;
+end
+plot(Y);
+
+s = spapi(4,X,Y);   %三次样条
+
 fnplt(s, 'r');         %绘制样条曲线
 hold on
-plot(X,Y,'o')       %绘制原始数据点
+plot(X,Y,'*')       %绘制原始数据点
 v=fnder(s,1);     %样条曲线一阶导数得到速度曲线
 fnplt(v, 'g');        %绘制速度曲线
 hold on

diff --git a/样条插值/B样条/uniformbspline .rar b/样条插值/B样条/uniformbspline .rar
diff --git a/样条插值/B样条/uniformbspline/Matlab中文论坛--助努力的人完成毕业设计.url b/样条插值/B样条/uniformbspline/Matlab中文论坛--助努力的人完成毕业设计.url
@@ -0,0 +1,7 @@
+[DEFAULT]
+BASEURL=about:blank
+[InternetShortcut]
+URL=http://www.ilovematlab.cn/index.php
+Modified=5056A196ABB5C80106
+IconFile=http://www.ilovematlab.cn/favicon.ico
+IconIndex=1
diff --git a/样条插值/B样条/uniformbspline/bspline.m b/样条插值/B样条/uniformbspline/bspline.m
@@ -0,0 +1,29 @@
+clear all;
+clc;
+j=0;
+for i=1:10
+    index(i)=j;
+    j=j+10;
+end
+for i=1:90
+    squence(i)=i;
+end
+
+j=1;
+for i=0:2/9*pi:2*pi
+    Y(j)=sin(i);
+    j=j+1;
+end
+
+bs = uniformbspline(index,Y,squence)
+plot(bs,'.');
+hold on;
+plot(index,Y,'*');
+
+% 三次均匀B样条插值计算(CBI Cubic B-spline Interpolation)
+% bs = uniformbspline(index,x,sequence)
+% 输入参数:  index     为代求点的横坐标向量(Y的坐标)
+%               x     已知的点的坐标值
+%        sequence     所有点的横坐标向量 sequence=1:n;
+% 输出参数:
+%              bs    三次均匀B样条插值结果
diff --git a/样条插值/B样条/uniformbspline/uniformbspline.m b/样条插值/B样条/uniformbspline/uniformbspline.m
@@ -0,0 +1,77 @@
+function bs = uniformbspline(index,x,sequence)
+% 三次均匀B样条插值计算(CBI Cubic B-spline Interpolation)
+% bs = uniformbspline(index,x,sequence)
+% 输入参数:  index     为代求点的横坐标向量(Y的坐标)
+%               x     已知的点的坐标值
+%        sequence     所有点的横坐标向量 sequence=1:n;
+% 输出参数:
+%              bs    三次均匀B样条插值结果
+% eMail  [email protected]
+
+
+%
+% beta = 1;
+% t=0.1;  % 可以更改
+% p(t) = 1/6*[1 t t^2 t^3]*[0       6          0          0
+%                           -3*beta 0          3*beta     0 
+%                           6*beta  -18+3*beta 18-6*beta  -3*beta
+%                           -3*beta 12-3*beta  -12+3*beta 3*beta  ]*[pL;pL1;pL2;pL3]
+%
+% 数据产生
+
+if(nargin == 1)
+     error('必须输入两个参数: bs = uniformbspline(index,x)');
+end
+
+if length(index) ~=length(x)
+   error('index,x向量长度不相等!');
+end;
+
+% 均匀B样条插值计算
+x=[x(1),x];
+x=[x(1),x];
+x=[x(1),x];
+x=[x,x(end)];
+x=[x,x(end)];
+x=[x,x(end)];
+
+index = [index(1),index];
+index = [index(1),index];
+index = [index(1),index];
+index = [index,index(end)];
+index = [index,index(end)];
+index = [index,index(end)];
+
+len = length(index);
+beta = 0.000001;
+ind = 1;
+for i = 1:len-3
+    pL = x(i);
+    pL1 = x(i+1);
+    pL2 = x(i+2);
+    pL3 = x(i+3);
+    Step = abs((index(i+2)-index(i+1)));
+    if Step == 0 
+       Step = 1;
+    end;
+    k = 0:1/Step:1;
+    for j = 1:length(k)
+        t = k(j);
+        p(ind) = 1/6*[1 t t^2 t^3]*[0       6          0          0
+                                   -3*beta  0          3*beta     0 
+                                    6*beta  -18+3*beta 18-6*beta  -3*beta
+                                   -3*beta   12-3*beta -12+3*beta  3*beta]*[pL;pL1;pL2;pL3];
+        ind = ind + 1;
+    end
+    ind = ind  - 1;
+end;
+p = p(3:end-2);
+indexmin = min(index);
+if(nargin == 3)
+   if indexmin < sequence(1)
+      p = p(abs(indexmin)+2:end);    
+   end;
+   bs = p(sequence); 
+else
+   bs = p;
+end;
diff --git a/样条插值/B样条/uniformbspline/使用帮助：新手必看.htm b/样条插值/B样条/uniformbspline/使用帮助：新手必看.htm
@@ -0,0 +1,186 @@
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diff --git a/样条插值/B样条/三次非均匀B样条/Bbase.m b/样条插值/B样条/三次非均匀B样条/Bbase.m
@@ -0,0 +1,24 @@
+function result = Bbase(i,k,u,t)
+%第i段k次B样条基,Deboor递推递归算法
+%t为变量,u(i)<=t<u(i+1),k=0时result=1;
+if(k==0)
+    if(u(i)<=t && t<u(i+1))%注意1=u(i)<=t<u(i+1)=1时的情况,这里要用t<=u(i+1);
+        result=1;
+        return;
+    else
+        result=0;
+        return;
+    end
+else
+    if(u(i+k)-u(i)==0)
+        alpha=0;
+    else
+        alpha=(t-u(i))/(u(i+k)-u(i));
+    end
+    if(u(i+k+1)-u(i+1)==0)
+         beta=0;
+    else
+        beta=(u(i+k+1)-t)/(u(i+k+1)-u(i+1));
+    end
+end
+result=alpha*Bbase(i,k-1,u,t)+beta*Bbase(i+1,k-1,u,t);