8.37. PikaMath 模块 API 文档

8.37.1. API

8.37.1.1. class Operator(TinyObj):

def plusInt(self,num1:int,num2:int)->int:...

def plusFloat(self,num1:float,num2:float)->float:...

def minusInt(self,num1:int,num2:int)->int:...

def minusFloat(self,num1:float,num2:float)->float:...

def equalInt(self,num1:int,num2:int)->int:...

def equalFloat(self,num1:float,num2:float)->int:...

def graterThanInt(self,num1:int,num2:int)->int:...

def graterThanFloat(self,num1:float,num2:float)->int:...

def lessThanInt(self,num1:int,num2:int)->int:...

def lessThanFloat(self,num1:float,num2:float)->int:...

def AND(self,flag1:int,flag2:int)->int:...

def OR(self,flag1:int,flag2:int)->int:...

def NOT(self,flag:int)->int:...

def __str__(self)->str:...

def __del__(self):...

8.37.1.2. class Math(TinyObj):

def __init__(self):...

def ceil(self,x:float)->int:...

def fabs(self,x:float)->float:...

def floor(self,x:float)->int:...

def fmod(self,x:float,y:float)->float:...

def remainder(self,x:float,y:float)->float:...

def trunc(self,x:float)->float:...

def exp(self,x:float)->float:...

def log(self,x:float)->float:...

def log2(self,x:float)->float:...

def log10(self,x:float)->float:...

def pow(self,x:float,y:float)->float:...

def sqrt(self,x:float)->float:...

def acos(self,x:float)->float:...

def asin(self,x:float)->float:...

def atan(self,x:float)->float:...

def atan2(self,x:float,y:float)->float:...

def cos(self,x:float)->float:...

def sin(self,x:float)->float:...

def tan(self,x:float)->float:...

def degrees(self,x:float)->float:...

def radians(self,x:float)->float:...

def cosh(self,x:float)->float:...

def sinh(self,x:float)->float:...

def tanh(self,x:float)->float:...

8.37.1.3. class Quaternion(TinyObj):

def __init__(self):...

def set(self,x:float,y:float,z:float,w:float):...

def get(self,key:int)->float:...

def add(self,quat:Quaternion):...

def sub(self,quat:Quaternion):...

def mul(self,quat:Quaternion):...

def magnituded(self)->float:...

def magnitudedsquare(self)->float:...

def reverse(self):...

def inverse(self):...

def normalize(self):...

def isnormalize(self)->int:...

def dot(self,quat:Quaternion)->float:...

def crossproduct(self,quat:Quaternion):...

def fromEuler(self,yaw:float,pitch:float,roll:float,mode:int):...

def toEuler(self)->list:...

8.37.2. Examples

8.37.2.1. Quaternion_test.py

from PikaMath import Quaternion

a=Quaternion()
a.set(0.592,0.158,0.592,0.525)

b=Quaternion()

a.add(b)
a.mul(b)

8.37.2.2. modbus_convert.py

def convert_to_modbus(num):
    # 判断输入数值的符号
    if num >= 0:
        sign = 0
    else:
        sign = 1

    # 如果是负数，将其转换为补码形式
    if sign:
        num = (~(-num) + 1) & 0xFFFF

    return num


def convert_from_modbus(num):
    # 判断输入数值的符号
    if (num & 0x8000):
        sign = 1
    else:
        sign = 0

    # 如果是负数，将其转换回原始的负数形式
    if sign:
        num = -((~num + 1) & 0xFFFF)

    return num


# 测试示例
num = -10
modbus_value = convert_to_modbus(num)

original_value = convert_from_modbus(modbus_value)

assert modbus_value == 65526
assert original_value == -10
print("PASS")