《实时控制软件设计》第一个编程作业

  1 #include <iostream>
  2 #include <stdlib.h>
  3 #include <Eigen/Dense>
  4 #include <math.h>
  5 using namespace std;
  6 using Eigen::MatrixXd;
  7 MatrixXd extract(char str[])
  8 {
  9             MatrixXd p(1,2);
 10             int u;
 11             int i,j;
 12             char a[10];
 13             for(i=0;i<=49&&str[i]!='(';i++);
 14             for(j=0;j<=49&&str[j]!=',';j++);
 15             for(u=0;u<=10&&i!=j-1;u++)
 16             {
 17                 i++;
 18                 a[u]=str[i];
 19             }
 20              
 21             p(0,0)=atof(a);
 22             for(i=j;i<=49&&str[i]!=')';i++);
 23             for(u=0;u<=10&&j!=i-1;u++)
 24             {
 25                 j++;
 26                 a[u]=str[j];
 27             }
 28             p(0,1)=atof(a);
 29             return p;
 30 }
 31 int main()
 32 {
 33 char name[15];
 34 int n;
 35 double avg,deg;
 36 float pi=3.14159265;
 37 char str1[20];
 38 char str2[20];
 39 char str3[20];
 40 char str4[15];
 41 char str5[15];
 42 char str6[15];
 43 MatrixXd rot(2,2);
 44 MatrixXd p1(1,2);
 45 MatrixXd p2(1,2);
 46 MatrixXd p3(1,2);
 47 MatrixXd p4(1,2);
 48 cout<<"请输入 ";
 49 cin>>name;
 50 cin>>n;
 51 switch(n)
 52 {
 53     case 1:
 54         {
 55             cin>>str1;
 56             p1=extract(str1);
 57         }
 58         break;
 59     case 2:
 60         {
 61             cin>>str1;
 62             p1=extract(str1);
 63             cin>>str2;
 64             p2=extract(str2);  
 65         }
 66         break;
 67     case 3:
 68         {
 69             cin>>str1;
 70             p1=extract(str1);
 71             cin>>str2;
 72             p2=extract(str2);
 73             cin>>str3;
 74             p3=extract(str3);
 75         }
 76         break;
 77     default:cout<<"输入错误";
 78   
 79 }
 80 cout<<"请输入操作指令"<<endl;
 81 cin>>str4;
 82 if(str4[0]=='m'&&str4[1]=='o'&&str4[2]=='v'&&str4[3]=='e'&&str4[4]==0)
 83         {
 84         cin>>str5;
 85         cin>>str6;
 86         p4=extract(str6);
 87         if(n==1)
 88          {
 89            p1=p1+p4;
 90            cout<<"("<<p1<<")"<<endl;
 91          }
 92         else if(n==2)
 93              {
 94                p1=p1+p4;   
 95                p2=p2+p4;
 96                cout<<"("<<p1<<")"<<"("<<p2<<")"<<endl;
 97              }
 98         else
 99              {
100                p1=p1+p4;   
101                p2=p2+p4;
102                p3=p3+p4;
103                cout<<"("<<p1<<")"<<"("<<p2<<")"<<"("<<p3<<")"<<endl;
104              }
105         }
106 else if(str4[0]=='r'&&str4[1]=='o'&&str4[2]=='t'&&str4[3]=='a'&&str4[4]=='t'&&str4[5]=='e'&&str4[6]==0)
107        {
108         cin>>str5;
109         cin>>avg;
110         deg=avg/180*pi;
111         rot(0,0)=cos(deg);
112         rot(0,1)=sin(deg);
113         rot(1,0)=-sin(deg);
114         rot(1,1)=cos(deg);
115         if(n==1)
116          {
117            p1=p1*rot;
118            cout<<"("<<p1<<")"<<endl;
119          }
120         else if(n==2)
121              {
122                p1=p1*rot;  
123                p2=p2*rot;
124               cout<<"("<<p1<<")"<<"("<<p2<<")"<<endl;
125              }
126         else
127              {
128                p1=p1*rot;  
129                p2=p2*rot;
130                p3=p3*rot;
131                cout<<"("<<p1<<")"<<"("<<p2<<")"<<"("<<p3<<")"<<endl;
132              }
133          
134        }
135 else
136     {
137         cout<<"输入出错"<<endl;
138     }  
139 return 0;
140 }