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  1. #include <stdio.h>
  2. #include <math.h>
  3.  
  4. #define PI 3.14159265
  5.  
  6.  
  7. float theta_vals (float q1, float q2, float A_1p[3], float B_1[3]){
  8.  
  9.  
  10.  
  11.     //float q1 = 0.001; //pitch angle
  12.     //float q2 = 0; //roll angle
  13.  
  14.     //Constants
  15.     float r = 1.43;
  16.     float s = 11.1;
  17.  
  18.     float A_1[] = {A_1p[0]*cos(q2) + A_1p[1]*sin(q1)*sin(q2) + A_1p[2]*cos(q1)*sin(q2), A_1p[1]*cos(q1) + -A_1p[2]*sin(q1), -A_1p[0]*sin(q2) + A_1p[1]*sin(q1)*cos(q2) + A_1p[2]*cos(q1)*cos(q2)};
  19.  
  20.     //printf("A1 = %lf , %lf , %f \n", A_1[0], A_1[1], A_1[2] );
  21.  
  22.     float L_1 = 0;
  23.  
  24.     //int x = sizeof(B_1);
  25.     //printf("sizeofB_1 = %d \n", x);
  26.  
  27.     for (int i = 0; i < 3; i++) {
  28.         L_1 += pow((A_1[i] - B_1[i]), 2);
  29.     }
  30.  
  31.     L_1 = sqrt(L_1);
  32.  
  33.     //printf("L1 = %lf \n", L_1);
  34.     //printf("L2 = %lf \n", L_2);
  35.  
  36.     if (L_1 > 12.53) {
  37.         L_1 = 12.53;
  38.     } else if (L_1 < 9.67) {
  39.         L_1 = 9.67;
  40.     }
  41.  
  42.     //printf("L1 = %lf \n", L_1);
  43.     //printf("L2 = %lf \n", L_2);
  44.  
  45.     int sizeOfTheta = 5000;
  46.     float theta[sizeOfTheta]; //values range from 0 to pi
  47.     float delta = PI / (sizeOfTheta - 1);
  48.     for (int i = 0; i < sizeOfTheta; i++) {
  49.         theta[i] = i*delta;
  50.     }
  51.  
  52. float L[sizeOfTheta];
  53.     for (int i = 0; i < sizeOfTheta; i++) {
  54.         L[i] = r*cos(theta[i]) + sqrt(pow(s,2) - (pow(r,2)*pow(sin(theta[i]),2)));
  55.     }
  56.  
  57.  
  58.     //find where L and L_1 are equal
  59.     int found = 0;
  60.     int index1 = 0;
  61.     int index2 = 0;
  62.     float tempL = -1;
  63.     float tempL1 = -1;
  64.     float tempL2 = -1;
  65.     while (found == 0) {
  66.         tempL = round(L[index1] * 1000) / 1000;
  67.         tempL1 = round(L_1 * 1000) / 1000;
  68.         if ((tempL == tempL1) && (tempL > 0) && (tempL1 > 0)) {
  69.             found = 1;
  70.         } else {
  71.             index1++;
  72.         }
  73.     }
  74.  
  75.     float theta1 = theta[index1];
  76.  
  77.     float thetas = theta1;
  78.  
  79.  
  80.     //printf("Theta1 = %lf \n", thetas);
  81.  
  82.     return thetas;
  83. }
  84.  
  85. int main() {
  86.  
  87.     float A_1p[] = {11, 11, 0};
  88.     float A_2p[] = {-11, 11, 0};
  89.  
  90.     float B_1[] = {11, 11, -11.1};
  91.     float B_2[] = {-11, 11, -11.1};
  92.  
  93.  float q1 = 0, q2 = 0;
  94.  float theta1, theta2;
  95.  theta1 = theta_vals (q1, q2, A_1p, B_2);
  96.  theta2 = theta_vals (q1, q2, A_2p, B_1);
  97.  
  98.  theta1 = (theta1/PI) * 180;
  99.  theta2 = (theta2/PI) * 180;
  100.  
  101.  
  102.     printf("Theta1 = %lf \n", theta1);
  103.     printf("Theta2 = %lf \n", theta2);
  104.  
  105. }
  106.  
Success #stdin #stdout 0s 4364KB
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stdin
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Standard input is empty
stdout
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Theta1 = 0.000000 
Theta2 = 0.000000
https://ideone.com/ijjfot
language:
C (gcc 8.3)
created:
5 years ago
visibility:
public

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