From 69f9348d6aede707fdd42a83737b44dcc33c2e0f Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 11 Dec 2019 17:16:32 +0100 Subject: [PATCH] Remove wrong tangled file --- metrology/index.org | 2 +- metrology/matlab/modal_frf_coh.m | 88 -------------------------------- 2 files changed, 1 insertion(+), 89 deletions(-) delete mode 100644 metrology/matlab/modal_frf_coh.m diff --git a/metrology/index.org b/metrology/index.org index 413cbf3..1d8fe18 100644 --- a/metrology/index.org +++ b/metrology/index.org @@ -25,7 +25,7 @@ #+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :output-dir figs -#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m +#+PROPERTY: header-args:matlab+ :tangle no #+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:shell :eval no-export diff --git a/metrology/matlab/modal_frf_coh.m b/metrology/matlab/modal_frf_coh.m deleted file mode 100644 index ebf57f9..0000000 --- a/metrology/matlab/modal_frf_coh.m +++ /dev/null @@ -1,88 +0,0 @@ -% computeReferencePose -% :PROPERTIES: -% :header-args:matlab+: :comments none :mkdirp yes -% :header-args:matlab+: :comments org :mkdirp yes -% :header-args:matlab+: :eval no :results none -% :END: -% <> - -% This Matlab function is accessible [[file:src/computeReferencePose.m][here]]. - - -function [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn) -% computeReferencePose - Compute the homogeneous transformation matrix corresponding to the wanted pose of the sample -% -% Syntax: [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn) -% -% Inputs: -% - Dy - Reference of the Translation Stage [m] -% - Ry - Reference of the Tilt Stage [rad] -% - Rz - Reference of the Spindle [rad] -% - Dh - Reference of the Micro Hexapod (Pitch, Roll, Yaw angles) [m, m, m, rad, rad, rad] -% - Dn - Reference of the Nano Hexapod [m, m, m, rad, rad, rad] -% -% Outputs: -% - WTr - - - %% Translation Stage - Rty = [1 0 0 0; - 0 1 0 Dy; - 0 0 1 0; - 0 0 0 1]; - - %% Tilt Stage - Pure rotating aligned with Ob - Rry = [ cos(Ry) 0 sin(Ry) 0; - 0 1 0 0; - -sin(Ry) 0 cos(Ry) 0; - 0 0 0 1]; - - %% Spindle - Rotation along the Z axis - Rrz = [cos(Rz) -sin(Rz) 0 0 ; - sin(Rz) cos(Rz) 0 0 ; - 0 0 1 0 ; - 0 0 0 1 ]; - - - %% Micro-Hexapod - Rhx = [1 0 0; - 0 cos(Dh(4)) -sin(Dh(4)); - 0 sin(Dh(4)) cos(Dh(4))]; - - Rhy = [ cos(Dh(5)) 0 sin(Dh(5)); - 0 1 0; - -sin(Dh(5)) 0 cos(Dh(5))]; - - Rhz = [cos(Dh(6)) -sin(Dh(6)) 0; - sin(Dh(6)) cos(Dh(6)) 0; - 0 0 1]; - - Rh = [1 0 0 Dh(1) ; - 0 1 0 Dh(2) ; - 0 0 1 Dh(3) ; - 0 0 0 1 ]; - - Rh(1:3, 1:3) = Rhz*Rhy*Rhx; - - %% Nano-Hexapod - Rnx = [1 0 0; - 0 cos(Dn(4)) -sin(Dn(4)); - 0 sin(Dn(4)) cos(Dn(4))]; - - Rny = [ cos(Dn(5)) 0 sin(Dn(5)); - 0 1 0; - -sin(Dn(5)) 0 cos(Dn(5))]; - - Rnz = [cos(Dn(6)) -sin(Dn(6)) 0; - sin(Dn(6)) cos(Dn(6)) 0; - 0 0 1]; - - Rn = [1 0 0 Dn(1) ; - 0 1 0 Dn(2) ; - 0 0 1 Dn(3) ; - 0 0 0 1 ]; - - Rn(1:3, 1:3) = Rnx*Rny*Rnz; - - %% Total Homogeneous transformation - WTr = Rty*Rry*Rrz*Rh*Rn; -end