1 #include <iostream>
2 #include <stdlib.h>
3 #include <orocos_kdl/src/frames.hpp>
4 #include <cstring>
5 using namespace std;
6 using namespace KDL;
7 class abc
8 {public:
9 char name[20];
10 int m;
11 Vector2 point[3];
12 abc()
13 {
14 for(int i=0;i<20;i++)name[i]=0;
15 m=0;
16 }
17 };
18 int main()
19 {
20 char i,j;
21 char a[3][20];
22 char b[6][10];
23 double c[6]={0,0,0,0,0,0};
24 char d[3][20];
25 char e[2][10];
26 double f[2];
27 cout<<"请输入 ";
28 abc p;
29 cin>>p.name;
30 cin>>p.m;
31 switch(p.m)
32 {
33 case 1:
34 {
35 cin>>a[0];
36 for(i=1;i<=10&&a[0][i]!=',';i++)b[0][i-1]=a[0][i];
37 for(j=0,i++;j<10&&a[0][i]!=')';i++,j++)b[1][j]=a[0][i];
38 c[0]=atof(b[0]);c[1]=atof(b[1]);
39 p.point[0]= (Vector2(c[0],c[1]));
40 }
41 break;
42 case 2:
43 {
44 cin>>a[0];
45 cin>>a[1];
46 for(i=1;i<=10&&a[0][i]!=',';i++)b[0][i-1]=a[0][i];
47 for(j=0,i++;j<10&&a[0][i]!=')';i++,j++)b[1][j]=a[0][i];
48 for(i=1;i<=10&&a[1][i]!=',';i++)b[2][i-1]=a[1][i];
49 for(j=0,i++;j<10&&a[1][i]!=')';i++,j++)b[3][j]=a[1][i];
50 c[0]=atof(b[0]);c[1]=atof(b[1]);
51 c[2]=atof(b[2]);c[3]=atof(b[3]);
52 p.point[0]= (Vector2(c[0],c[1]));
53 p.point[1]= (Vector2(c[2],c[3]));
54 }
55 break;
56 case 3:
57 {
58 cin>>a[0];
59 cin>>a[1];
60 cin>>a[2];
61 for(i=1;i<=10&&a[0][i]!=',';i++)b[0][i-1]=a[0][i];
62 for(j=0,i++;j<10&&a[0][i]!=')';i++,j++)b[1][j]=a[0][i];
63 for(i=1;i<=10&&a[1][i]!=',';i++)b[2][i-1]=a[1][i];
64 for(j=0,i++;j<10&&a[1][i]!=')';i++,j++)b[3][j]=a[1][i];
65 for(i=1;i<=10&&a[2][i]!=',';i++)b[4][i-1]=a[2][i];
66 for(j=0,i++;j<10&&a[2][i]!=')';i++,j++)b[5][j]=a[2][i];
67 c[0]=atof(b[0]);c[1]=atof(b[1]);
68 c[2]=atof(b[2]);c[3]=atof(b[3]);
69 c[4]=atof(b[4]);c[5]=atof(b[5]);
70 p.point[0]= (Vector2(c[0],c[1]));
71 p.point[1]= (Vector2(c[2],c[3]));
72 p.point[2]= (Vector2(c[4],c[5]));
73 }
74 break;
75 default:cout<<"Error";
76 }
77 for(int k=0;k<20;k++)d[0][k]=0;
78 cin>>d[0];
79 if(d[0][0]=='m'&&d[0][1]=='o'&&d[0][2]=='v'&&d[0][3]=='e'&&d[0][4]==0)
80 {
81 for(int k=0;k<20;k++)d[1][k]=0;
82 cin>>d[1];
83 if(!strcmp(d[1],p.name))
84 {
85 cin>>d[2];
86 for(i=1;i<=10&&d[2][i]!=',';i++)e[0][i-1]=d[2][i];
87 for(j=0,i++;j<10&&d[2][i]!=')';i++,j++)e[1][j]=d[2][i];
88 f[0]=atof(e[0]);f[1]=atof(e[1]);
89 for(i=0;i<3;i++)p.point[i]+=Vector2(f[0],f[1]);
90 }
91 else cout<<"error/n";
92 }
93 else if(d[0][0]=='r'&&d[0][1]=='o'&&d[0][2]=='t'&&d[0][3]=='a'&&d[0][4]=='t'&&d[0][5]=='e'&&d[0][6]==0)
94 {
95 for(int k=0;k<20;k++)d[1][k]=0;
96 cin>>d[1];
97 if(!strcmp(d[1],p.name))
98 {
99 cin>>d[2];
100 f[0]=atof(d[2]);
101 Rotation2 rot(f[0]/180*3.1415926);
102 for(i=0;i<3;i++)p.point[i]=rot.Inverse(p.point[i]);
103 }
104 else cout<<"error/n";
105 }
106 else cout<<"error/n";
107 for(i=0;i<p.m;i++) cout<<'('<<p.point[i].x()<<','<<p.point[i].y()<<") ";
108 cout<<endl;
109 }
