ロボット座標の再構成(修正)


Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_952661879ea9e8690c9083961fbdeeff.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_952661879ea9e8690c9083961fbdeeff.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_05e4f1cf37c12474111eb3fc0bbc54bb.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_05e4f1cf37c12474111eb3fc0bbc54bb.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_7869199cbdbbe885060095e7133873a1.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_7869199cbdbbe885060095e7133873a1.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_e49801ecf5f0c56fdb3cfa3d92dc021b.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_e49801ecf5f0c56fdb3cfa3d92dc021b.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_87ab620a1b65e290b01561a426cd7627.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_87ab620a1b65e290b01561a426cd7627.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_4f03003c68c9583501d3d1645e9ff6b5.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_4f03003c68c9583501d3d1645e9ff6b5.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_fdce3761401bf3575bb41968e827c82b.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_fdce3761401bf3575bb41968e827c82b.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_077c114cd766ed664afe08e26dfe6026.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_077c114cd766ed664afe08e26dfe6026.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_4bea4e4d3f5fbaeae04da51f3691e347.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_4bea4e4d3f5fbaeae04da51f3691e347.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_2e470b9e996d73e580d67d836994de30.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_2e470b9e996d73e580d67d836994de30.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

Warning: fopen(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_45878e175e6afe5f9d393ff3f55cee8d.gif): failed to open stream: Permission denied in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 123

Warning: fputs() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 124

Warning: fclose() expects parameter 1 to be resource, bool given in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 126

Warning: getimagesize(/data/htdocs/ibot/wpibot//wp-content/plugins/latex/cache/tex_45878e175e6afe5f9d393ff3f55cee8d.gif): failed to open stream: No such file or directory in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 129

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 47

Warning: preg_replace(): The /e modifier is no longer supported, use preg_replace_callback instead in /data/htdocs/ibot/wpibot/wp-content/plugins/latex/latex.php on line 49

いざプログラムに書こうと思ったら、先の記事に書いた正面図が、ひざ関節が左右に曲がるというものになっているのに気づいた。足郎2は、ひざは前後にしか曲がらない(人間と同様)ので、修正した。

正面図は、変な格好だが、図は角度の正の向きを確認し、関節位置の座標を確定するためのものだから問題ない。
《正面図》
A点とB点の関係


B点とC点の関係


C点と原点の関係


D点と原点の関係


D点とE点の関係


E点とF点の関係


《側面図》
A点とB点の関係


B点とC点の関係


C点とD点と原点の関係


D点とE点の関係


E点とF点の関係