977 lines
46 KiB
XML
977 lines
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id="rect4327" /></flowRegion><flowPara
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id="flowPara4329" /></flowRoot> <flowRoot
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style="font-style:normal;font-weight:normal;font-size:15px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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sodipodi:role="line">coord transformation:</tspan><tspan
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x="94.294395"
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sodipodi:role="line"
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id="tspan3553">input ω,y,dx,dz</tspan><tspan
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x="94.294395"
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sodipodi:role="line"
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id="tspan3555">output: qω,qcx,qfy,qcz,</tspan><tspan
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y="572.6662"
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x="94.294395"
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sodipodi:role="line"
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id="tspan3561"></tspan><tspan
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y="591.4162"
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x="94.294395"
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sodipodi:role="line"
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id="tspan3550">dx,dz are translation from the vector v after rotation</tspan><tspan
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y="610.1662"
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x="94.294395"
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sodipodi:role="line"
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id="tspan3546">q vaiables are 'real motor' variables</tspan><tspan
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x="94.294395"
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sodipodi:role="line"
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id="tspan3563" /><tspan
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x="93.943031"
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y="488.66965">known values after fft: y<tspan
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id="tspan3473"
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style="font-size:64.99999762%;baseline-shift:sub">0</tspan>, r<tspan
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id="tspan3471"
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style="font-size:64.99999762%;baseline-shift:sub">0</tspan>, x<tspan
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id="tspan3469"
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style="font-size:64.99999762%;baseline-shift:sub">0</tspan>, φ<tspan
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id="tspan3467"
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style="font-size:64.99999762%;baseline-shift:sub">0, </tspan>y<tspan
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id="tspan3483"
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style="font-size:64.99999762%;baseline-shift:sub">1</tspan>, r<tspan
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id="tspan3481"
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style="font-size:64.99999762%;baseline-shift:sub">1</tspan>, x<tspan
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id="tspan3479"
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style="font-size:64.99999762%;baseline-shift:sub">1</tspan>, φ<tspan
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id="tspan3477"
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style="font-size:64.99999762%;baseline-shift:sub">1</tspan></tspan></text>
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id="tspan4321">e</tspan></tspan></text>
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id="flowRoot3565"
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style="fill:black;stroke:none;stroke-opacity:1;stroke-width:1px;stroke-linejoin:miter;stroke-linecap:butt;fill-opacity:1;font-family:sans-serif;font-style:normal;font-weight:normal;font-size:15px;line-height:125%;letter-spacing:0px;word-spacing:0px"><flowRegion
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id="flowRegion3567"><rect
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height="195.07448"
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x="25.135647"
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y="572.0528" /></flowRegion><flowPara
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id="flowPara3571" /></flowRoot> <g
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id="g3873"
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transform="translate(6.9548817,-37.092702)">
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sodipodi:role="line">p<tspan
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<text
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id="text4377"
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y="697.47852"
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xml:space="preserve"><tspan
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y="697.47852"
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id="tspan4403"
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style="font-size:64.99999762%;baseline-shift:sub">n</tspan>+r<tspan
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id="tspan4401"
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style="font-size:64.99999762%;baseline-shift:sub">n</tspan>·sin(φ<tspan
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id="tspan4399"
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style="font-size:64.99999762%;baseline-shift:sub">n</tspan>+ω)</tspan></text>
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<text
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xml:space="preserve"
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style="font-style:normal;font-weight:normal;font-size:15px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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x="131.06863"
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