Robotics & AI: Java code for Homogeneous Composite Transformation Matrix (HCTM) finding fixed , mobile co-ordinates.

//Aim: To implement fixed and mobile co-ordinates in JAVA //Program import java.util.*; class htmc { static int m1[][]={ {3,0,0},{0,2,1},{0,-1,2}}; static int m2[][]={ {2,0,-1},{0,3,0},{1,0,2}}; static int m3[][]={ {2,1,0},{-1,2,0},{0,0,3}}; static double pm[][]=new double[3][1]; static double pf[][]=new double[3][1]; static double p[][]=new double[3][3]; static int a,t; static void mat_mul() { for(int i=0;i<3;++i) pf[i][0]=0; for(int i=0;i<3;++i) { for(int j=0;j<1;++j) { for(int k=0;k<3;++k) pf[i][j]+=p[i][k]*pm[k][j]; } } } static void get_m1() { double temp; for(int i=0;i<3;++i) { for(int j=0;j<3;++j) { if(m1[i][j]==2) p[i][j]=Math.cos(Math.toRadians(t)); else if(m1[i][j]==3) p[i][j]=1; else { temp=90+m1[i][j]*t; p[i][j]=Math.cos(Math.toRadians(temp)); } } } } static void get_m2() { double temp; for(int i=0;i<3;++i) { for(int j=0;j<3;++j) { if(m2[i][j]==2) p[i][j]=Math.cos(Math.toRadians(t)); else if(m2[i][j]==3) p[i][j]=1; else { temp=90+m2[i][j]*t; p[i][j]=Math.cos(Math.toRadians(temp)); } } } } static void get_m3() { double temp; for(int i=0;i<3;++i) { for(int j=0;j<3;++j) { if(m3[i][j]==2) p[i][j]=Math.cos(Math.toRadians(t)); else if(m3[i][j]==3) p[i][j]=1; else { temp=90+m3[i][j]*t; p[i][j]=Math.cos(Math.toRadians(temp)); } } } } public static void main(String args[]) { Scanner scr=new Scanner(System.in); System.out.println("Enter [P]m values. "); for(int i=0;i<3;++i) { pm[i][0]=scr.nextDouble(); } System.out.println("Rotation about which axis? 1,2,3 "); a=scr.nextInt(); System.out.println("Enter the angle "); t=scr.nextInt(); if(a==1) get_m1(); else if(a==2) get_m2(); else get_m3(); mat_mul(); System.out.println("The [P]f matrix is as follows. "); for(int i=0;i<3;++i) System.out.println(pf[i][0]); int temp1; for(int i=0;i<3;++i) { for(int j=0;j<3;++j) { p[i][j]=(p[i][j]*100); temp1=(int)p[i][j]; p[i][j]=temp1/100.0; } } System.out.println("\nThe final HTMC matrix is as follows."); for(int i=0;i<3;++i) { for(int j=0;j<3;++j) { System.out.print(p[i][j]+"\t"); } System.out.print(pm[i][0]+"\n"); } System.out.print("\n0\t0\t0\t1"); } } /*OUTPUT C:\Users\Aditya\Desktop\aditya>javac htmc.java C:\Users\Aditya\Desktop\aditya>java htmc Enter [P]m values. 2 0 3 Rotation about which axis? 1,2,3 1 Enter the angle 60 The [P]f matrix is as follows. 2.0 -2.598076211353316 1.5000000000000007 The final HTMC matrix is as follows. 1.0 0.0 0.0 2.0 0.0 0.5 -0.86 0.0 0.0 0.86 0.5 3.0 0 0 0 1 */

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