how to export this type of vector locally, so i can call this vector as when i want, please tell me asap.
thank YOU.
If you mean saving to file, JLD2 should be able to do it. Or just the Julia Serializer
You probably don’t really want to use this type of vector though; it will be very slow.
Please don’t post images of code. Instead, copy and paste code as text, using triple backticks for formatting: Please read: make it easier to help you
1 Like
I have to store a 4x4 matrix with corresponding 1x6 matrix and also a 1x1 element. and there are n element for a iteration and then in second iteration another 4x4 and 1x6 and 1x1 matrix , m sets.
so is there any efficient to store this.
thank you
This description is difficult to follow. Can’t you just copy and paste the text into your post instead?
If there is some power left in the star, could you cook some data example?
m = 6
data = Vector{Tuple{Matrix{Float64}, Matrix{Float64}, Matrix{Float64}}}(undef,m)
for i in 1:m
data[i] = (rand(4,4), rand(1,6), rand(1,1))
end
It looks to me like it’s not a 1x1 matrix in there, but a regular scalar Float64.
Where is “there”?
In the data, if you look at the printout, it seems like a Vector{Tuple{Matrix{Float64}, Float64, Matrix{Float64}}}
Or, maybe even a Vector{NTuple{?, Tuple{Matrix{Float64}, Float64, Matrix{Float64}}}}, or something like that.
There is also “there”:
Yes, I think this description is wrong, because many people think a scalar is a 1x1 matrix.
Thus the whole point of providing a data example / MWE…
1 Like
I converted the output in numpy array. i can’t post the output in above format because i cleared the cell output and for getting that i have to run the code for 3-4 hour.
6-element Vector{PyObject}:
PyObject ((array([[ 0.87215598, 0.16800895, 0.45991623, 0.25619071],
[-0.24644018, 0.96164168, 0.11793858, 1.02285986],
[-0.42303138, -0.21652808, 0.88012331, 0.00454955],
[ 0. , 0. , 0. , 1. ]]), 0.16358848772504414, array([[ 0. , 154.28571429, 12.85714286, 18.94736842,
113.68421053, 255. ]])), (array([[ 0.69464543, -0.36295442, -0.62139988, 1.63969446],
[ 0.09882529, 0.90264833, -0.41815853, 1.05226796],
[ 0.71251626, 0.22918143, 0.66351598, 0.00378875],
[ 0. , 0. , 0. , 1. ]]), 0.0448310935542113, array([[ 51.42857143, 128.57142857, 102.85714286, 104.21052632,
156.31578947, 330. ]])), (array([[ 0.7226713 , -0.34572214, -0.59885591, 1.71371418],
[ 0.15319068, 0.92383934, -0.34992927, 1.13174214],
[ 0.67402608, 0.16122903, 0.72121498, 0.0019016 ],
[ 0. , 0. , 0. , 1. ]]), 0.059379793036915166, array([[ 77.14285714, 154.28571429, 102.85714286, 28.42105263,
42.63157895, 135. ]])), (array([[ 0.99879064, 0.02455709, 0.04711907, 1.31948778],
[-0.02493593, 0.99903846, 0.0264076 , 0.74342861],
[-0.04698021, -0.02774248, 0.99873931, 0.00295867],
[ 0. , 0. , 0. , 1. ]]), 0.013052958469056573, array([[128.57142857, 115.71428571, 128.57142857, 47.36842105,
142.10526316, 60. ]])), (array([[ 9.51466654e-01, -1.23748339e-01, -2.82495229e-01,
1.60895782e+00],
[ 8.68040059e-02, 9.85674830e-01, -1.42503312e-01,
8.86856006e-01],
[ 2.95646985e-01, 1.11001989e-01, 9.49067131e-01,
7.83312505e-04],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000000e+00]]), 0.024261659824236566, array([[128.57142857, 128.57142857, 115.71428571, 47.36842105,
142.10526316, 135. ]])), (array([[ 6.37202287e-01, -4.08987807e-01, -6.53535171e-01,
2.11708154e+00],
[ 1.23983825e-01, 8.90253485e-01, -4.37577128e-01,
1.35747996e+00],
[ 7.60656643e-01, 1.97933842e-01, 6.18611886e-01,
3.13678401e-05],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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[ 0. , 0. , 0. , 1. ]]), 0.09419470513399804, array([[154.28571429, 25.71428571, 180. , 37.89473684,
241.57894737, 150. ]])), (array([[ 0.94652163, 0.06422702, 0.3168244 , 1.51614997],
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241.57894737, 225. ]])), (array([[ 4.72876120e-01, 8.57689251e-02, 8.77176075e-01,
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[-5.43497540e-01, 8.11123333e-01, 2.14677346e-01,
4.53291572e-01],
[-6.93477570e-01, -5.78632424e-01, 4.29802721e-01,
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[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
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[-0.50151372, 0.83919686, 0.20887702, 0.90846486],
[-0.74044118, -0.54183015, 0.39827621, 0.00373423],
[ 0. , 0. , 0. , 1. ]]), 0.15587273280143485, array([[180. , 90. , 38.57142857, 151.57894737,
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[ 0. , 0. , 0. , 1. ]]), 0.1057851497934145, array([[282.85714286, 12.85714286, 12.85714286, 75.78947368,
213.15789474, 120. ]])), (array([[ 0.37927792, 0.10478851, 0.91955077, 1.39129912],
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PyObject ()
PyObject ()
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6.07849498e-04],
[ 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
1.00000000e+00]]), 0.05611598709093224, array([[128.57142857, 167.14285714, 38.57142857, 170.52631579,
184.73684211, 315. ]])), (array([[ 0.92187831, 0.16072945, 0.35142769, 0.28163974],
[-0.19212766, 0.97947659, 0.05465875, 0.86684234],
[-0.33580353, -0.1173345 , 0.93496931, 0.00327662],
[ 0. , 0. , 0. , 1. ]]), 0.07116174351337434, array([[334.28571429, 180. , 64.28571429, 66.31578947,
99.47368421, 30. ]])))
using Rotations
using LinearAlgebra
function trans(x)
alpha=x[1]; a=x[2]; d=x[3]; t=x[4]
T=[ cos(t) -sin(t) 0 a;
sin(t)*cos(alpha) cos(t)*cos(alpha) -sin(alpha) -sin(alpha)*d;
sin(t)*sin(alpha) cos(t)*sin(alpha) cos(alpha) cos(alpha)*d;
0 0 0 1 ]
return T
end
function J(t)
t1= t[1] ; t2= t[2];
t3= t[3];
t4= t[4];
t5= t[5];
t6= t[6];
j=zeros(3,6)
j[1,1]= 0.227*sin(t1)*sin(t5)*cos(t2 + t3 + t4) - 0.095*sin(t1)*sin(t2 + t3 + t4) + 0.425*sin(t1)*cos(t2) + 0.392*sin(t1)*cos(t2 + t3) + 0.227*cos(t1)*cos(t5) + 0.109*cos(t1)
j[1,2]= 0.425*sin(t2)*cos(t1) + 0.227*sin(t5)*sin(t2 + t3 + t4)*cos(t1) + 0.392*sin(t2 + t3)*cos(t1) + 0.095*cos(t1)*cos(t2 + t3 + t4)
j[1,3]= 0.227*sin(t5)*sin(t2 + t3 + t4)*cos(t1) + 0.392*sin(t2 + t3)*cos(t1) + 0.095*cos(t1)*cos(t2 + t3 + t4)
j[1,4]= 0.227*sin(t5)*sin(t2 + t3 + t4)*cos(t1) + 0.095*cos(t1)*cos(t2 + t3 + t4)
j[1,5]= -0.227*sin(t1)*sin(t5) - 0.227*cos(t1)*cos(t5)*cos(t2 + t3 + t4)
j[1,6]= 0
j[2,1]= 0.227*sin(t1)*cos(t5) + 0.109*sin(t1) - 0.227*sin(t5)*cos(t1)*cos(t2 + t3 + t4) + 0.095*sin(t2 + t3 + t4)*cos(t1) - 0.425*cos(t1)*cos(t2) - 0.392*cos(t1)*cos(t2 + t3)
j[2,2]= 0.425*sin(t1)*sin(t2) + 0.227*sin(t1)*sin(t5)*sin(t2 + t3 + t4) + 0.392*sin(t1)*sin(t2 + t3) + 0.095*sin(t1)*cos(t2 + t3 + t4)
j[2,3]= 0.227*sin(t1)*sin(t5)*sin(t2 + t3 + t4) + 0.392*sin(t1)*sin(t2 + t3) + 0.095*sin(t1)*cos(t2 + t3 + t4)
j[2,4]= 0.227*sin(t1)*sin(t5)*sin(t2 + t3 + t4) + 0.095*sin(t1)*cos(t2 + t3 + t4)
j[2,5]= -0.227*sin(t1)*cos(t5)*cos(t2 + t3 + t4) + 0.227*sin(t5)*cos(t1)
j[2,6]= 0
j[3,1]= 0
j[3,2]= -0.227*sin(t5)*cos(t2 + t3 + t4) + 0.095*sin(t2 + t3 + t4) - 0.425*cos(t2) - 0.392*cos(t2 + t3)
j[3,3]= -0.227*sin(t5)*cos(t2 + t3 + t4) + 0.095*sin(t2 + t3 + t4) - 0.392*cos(t2 + t3)
j[3,4]= -0.227*sin(t5)*cos(t2 + t3 + t4) + 0.095*sin(t2 + t3 + t4)
j[3,5]= -0.227*sin(t2 + t3 + t4)*cos(t5)
j[3,6]= 0
return j
end
function CMP(e)
pos=[]
for i in range(1,size(e)[1])
te=e[i,1:3]; eff_ang=e[i,4:6]';
re = round.(RotXYZ(eff_ang[1],eff_ang[2],eff_ang[3]),digits=3);
Xwe=(vcat(hcat(re,te),[0 0 0 1]));
function CM(t)
t1= t[1] ; t2= t[2];
t3= t[3];
t4= t[4];
t5= t[5];
t6= t[6];
Xbe= Matrix(I,4,4) # e's coordinate in b's frame
a2=-.425 ; d3=-.120 ; a3=-0.392; d4=0.093; # all are in mm
dh=[0 -.1395 .482 t1;
pi/2 0 0.136 t2;
0 a2 d3 t3;
0 a3 d4 t4;
pi/2 0 .095 t5;
-pi/2 0 .227 t6;]
for i in 1:(size(dh)[1])
# display(trans(dh[i,:]))
Xbe= Xbe*trans(dh[i,:])
end
return Xwe*inv(Xbe), Xbe[1:3,1:3] ;
end
T=[]
for t1 in range(0,360,15)
for t2 in range(0,180,15)
for t3 in range(0,180,15)
for t4 in range(0,180,15)
for t5 in range(0,360,15)
for t6 in range(0,360,15)
t=[t1 t2 t3 t4 t5 t6];
p= CM(t);
c=Rotations.params(RotXYZ(p[2]))[1:2,1];
for i in range(1,2)
if c[i]<0
c[i]=2*pi+c[i];
end
end
if 0<abs(c[1]-eff_ang[1])<0.05 && 0<abs(c[2]-eff_ang[2])<0.05 && 0<=p[1][15]< 0.0025
l=J(t);
u=sqrt(abs(det(l*l')));
v=(p[1],u,t);
T=vcat(T,v);
end
end
end
end
end
end
end
pos=vcat(pos,Tuple(T));
end
return pos
end
res=CMP([0.75 0.1 0.72 .3 pi/8 pi/9])