[j];
}
}
GetAMat();
GetEndPose();
GetTMat();
GetEndJacobian();
GetEndInvJacobian();
GetJBasetoEnd();
for (i=0;i<6;i++)
{
mInput=0;
mOutput=0;
}
mMode=BASE;
}
void GetEndPose()
{
MLGetIdentityMat(EndPose);
for (int i=0;i<6;i++)
{
MLMatMulti(AMat[5-i],EndPose);
}
}
void GetEndJacobian()
{
for (int i=0;i<6;i++)
{
EndJacobian[0]=-1*TMat[Xx][Nn]*TMat[Yy][Pp]+TMat[Yy][Nn]*TMat[Xx][Pp];
EndJacobian[1]=-1*TMat[Xx][Oo]*TMat[Yy][Pp]+TMat[Yy][Oo]*TMat[Xx][Pp];
EndJacobian[2]=-1*TMat[Xx][Aa]*TMat[Yy][Pp]+TMat[Yy][Aa]*TMat[Xx][Pp];
EndJacobian[3]=TMat[Zz][Nn];
<