Expression 14: 4 "P" left parenthesis, "X" Subscript, "h" , Baseline left parenthesis, "t" Subscript, 00 , Baseline , right parenthesis , "Y" Subscript, "h" , Baseline left parenthesis, "t" Subscript, 00 , Baseline , right parenthesis , "Z" Subscript, "h" , Baseline left parenthesis, "t" Subscript, 00 , Baseline , right parenthesis , "R" Subscript, "x" , Baseline , "R" Subscript, "y" , Baseline , right parenthesis left bracket, "t" , right bracket4PXht00,Yht00,Zht00,Rx,Ryt
domain t Minimum: 11
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: 2 left parenthesis, "D" plus 1 , right parenthesis2D+1
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Expression 15: 4 "P" left parenthesis, "X" Subscript, "v" , Baseline left parenthesis, "t" Subscript, 00 , Baseline , right parenthesis , "Y" Subscript, "v" , Baseline left parenthesis, "t" Subscript, 00 , Baseline , right parenthesis , "Z" Subscript, "v" , Baseline left parenthesis, "t" Subscript, 00 , Baseline , right parenthesis , "R" Subscript, "x" , Baseline , "R" Subscript, "y" , Baseline , right parenthesis left bracket, "t" , right bracket4PXvt00,Yvt00,Zvt00,Rx,Ryt
domain t Minimum: 11
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: 2 left parenthesis, "D" plus 1 , right parenthesis2D+1
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Expression 16: "t" Subscript, 00 , Baseline equals negative 1 plus 2mod left parenthesis, "t" , 1 , right parenthesist00=−1+2modt,1
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Control
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Axis
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Rots
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Dogan's Rotation Template
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Expression 29: "T" Subscript, "x" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis equals "X" Subscript, 1 , Baseline cosine left parenthesis, theta Subscript, "y" , Baseline , right parenthesis plus left parenthesis, "Y" Subscript, 1 , Baseline sin left parenthesis, theta Subscript, "x" , Baseline , right parenthesis plus "Z" Subscript, 1 , Baseline cos left parenthesis, theta Subscript, "x" , Baseline , right parenthesis , right parenthesis sine left parenthesis, theta Subscript, "y" , Baseline , right parenthesisTxX1,Y1,Z1,θx,θy=X1cosθy+Y1sinθx+Z1cosθxsinθy
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Expression 30: "T" Subscript, "y" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis equals "Y" Subscript, 1 , Baseline cosine left parenthesis, theta Subscript, "x" , Baseline , right parenthesis minus "Z" Subscript, 1 , Baseline sine left parenthesis, theta Subscript, "x" , Baseline , right parenthesisTyX1,Y1,Z1,θx,θy=Y1cosθx−Z1sinθx
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Expression 31: "T" Subscript, "z" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis equals negative "X" Subscript, 1 , Baseline sine left parenthesis, theta Subscript, "y" , Baseline , right parenthesis plus left parenthesis, "Y" Subscript, 1 , Baseline sin left parenthesis, theta Subscript, "x" , Baseline , right parenthesis plus "Z" Subscript, 1 , Baseline cos left parenthesis, theta Subscript, "x" , Baseline , right parenthesis , right parenthesis cosine left parenthesis, theta Subscript, "y" , Baseline , right parenthesisTzX1,Y1,Z1,θx,θy=−X1sinθy+Y1sinθx+Z1cosθxcosθy
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Expression 32: "C" Subscript, "a" "m" "e" "r" "a" , Baseline equals left bracket, 0 , 0 , 10 , right bracketCamera=0,0,10
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Expression 33: "D" Subscript, "i" "s" "t" "a" "n" "c" "e" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis equals StartRoot, left parenthesis, "C" Subscript, "a" "m" "e" "r" "a" , Baseline left bracket, 1 , right bracket minus "T" Subscript, "x" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis , right parenthesis squared plus left parenthesis, "C" Subscript, "a" "m" "e" "r" "a" , Baseline left bracket, 2 , right bracket minus "T" Subscript, "y" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis , right parenthesis squared plus left parenthesis, "C" Subscript, "a" "m" "e" "r" "a" , Baseline left bracket, 3 , right bracket minus "T" Subscript, "z" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis , right parenthesis squared , EndRootDistanceX1,Y1,Z1,θx,θy=Camera1−TxX1,Y1,Z1,θx,θy2+Camera2−TyX1,Y1,Z1,θx,θy2+Camera3−TzX1,Y1,Z1,θx,θy2
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Expression 34: "P" left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis equals StartFraction, 10 left parenthesis, "T" Subscript, "x" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis , "T" Subscript, "y" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis , right parenthesis Over "D" Subscript, "i" "s" "t" "a" "n" "c" "e" , Baseline left parenthesis, "X" Subscript, 1 , Baseline , "Y" Subscript, 1 , Baseline , "Z" Subscript, 1 , Baseline , theta Subscript, "x" , Baseline , theta Subscript, "y" , Baseline , right parenthesis , EndFractionPX1,Y1,Z1,θx,θy=10TxX1,Y1,Z1,θx,θy,TyX1,Y1,Z1,θx,θyDistanceX1,Y1,Z1,θx,θy