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发表于 2025-3-15 19:37:13
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if machsimflg,
[
tox4_wcs = vmap(tox4$,t_wcs_m1$)
tox4_wcs = vsub(tox4_wcs, t_orgin_x$)
trns_wcs_m1 = matt(t_wcs_m1$)
machsim_m1 = mmul(trns_wcs_m1,m1$)
trnsm1 = matt(machsim_m1)
]
else,
[
trnsm1 = matt(m1$)
tox4_wcs = vequ(tox4$)
@tox4_wcs, @toy4_wcs, @toz4_wcs
]
xabs = vmap(x$,trnsm1)
xtop = vequ(xabs)
drl_init_xabs = vmap(drl_init_x$,trnsm1)
drl_ref_xabs = vmap(drl_ref_x$,trnsm1)
drl_tos_xabs = vmap(drl_tos_x$,trnsm1)
drl_depth_xabs = vmap(drl_depth_x$,trnsm1)
tlvecx = vmap(vtoolx$,trnsm1)
norm_tlvecx = vmap(p_svec$,trnsm1)
toxout = vequ(tox4$) |
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