/usr/share/axiom-20140801/input/dhtri.input is in axiom-test 20140801-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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)spool dhtri.output
)set message test on
)set message auto off
)clear all
--S 1 of 5
tri2tri(t1: List Point DoubleFloat, t2: List Point DoubleFloat): _
DHMATRIX(DoubleFloat) ==
n1 := triangleNormal(t1)
n2 := triangleNormal(t2)
tet2tet(concat(t1, n1), concat(t2, n2))
--R
--R Function declaration tri2tri : (List(Point(DoubleFloat)),List(Point(
--R DoubleFloat))) -> DenavitHartenbergMatrix(DoubleFloat) has been
--R added to workspace.
--R Type: Void
--E 1
--S 2 of 5
tet2tet(t1: List Point DoubleFloat, t2: List Point DoubleFloat): _
DHMATRIX(DoubleFloat) ==
m1 := makeColumnMatrix t1
m2 := makeColumnMatrix t2
m2 * inverse(m1)
--R
--R Function declaration tet2tet : (List(Point(DoubleFloat)),List(Point(
--R DoubleFloat))) -> DenavitHartenbergMatrix(DoubleFloat) has been
--R added to workspace.
--R Type: Void
--E 2
--S 3 of 5
makeColumnMatrix(t) ==
m := new(4,4,0)$DHMATRIX(DoubleFloat)
for x in t for i in 1..repeat
for j in 1..3 repeat
m(j,i) := x.j
m(4,i) := 1
m
--R
--R Type: Void
--E 3
--S 4 of 5
triangleNormal(t) ==
a := triangleArea t
p1 := t.2 - t.1
p2 := t.3 - t.2
c := cross(p1, p2)
len := length(c)
len = 0 => error "degenerate triangle!"
c := (1/len)*c
t.1 + sqrt(a) * c
--R
--R Type: Void
--E 4
--S 5 of 5
triangleArea t ==
a := length(t.2 - t.1)
b := length(t.3 - t.2)
c := length(t.1 - t.3)
s := (a+b+c)/2
sqrt(s*(s-a)*(s-b)*(s-c))
--R
--R Type: Void
--E 5
)spool
)lisp (bye)
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