读取QT中程序产生的errorC_pos矩阵数据，并绘制图像
用代码块功能插入代码，请勿粘贴截图
我想要达到的结果
#include "widget.h"
#include "ui_widget.h"
#include<QPushButton>
#include <QDebug>
Widget::Widget(QWidget *parent)
: QWidget(parent)
, ui(new Ui::Widget)
{
ui->setupUi(this);
connect(ui->pushButton_1,&QPushButton::clicked,this,&Widget::pushData);//通过pushbutton_1，将数据传输到八个变量中
/*--------------------------------------------------------------F1_1_C------------------------------------------------------------------*/
ui->F1_1_C->legend->setVisible(true);//显示上方标题
//存储数据
QVector <double> x1(100),y1(100);//分别存放x和y坐标的数据，101为数据长度
//添加数据
double x1=1; //
double y1=1;
ui->F1_1_C->addGraph();//在F1_1_C图上添加一条线
ui->F1_1_C->graph(1)->setData(x1,y1);//添加数据
//设置属性、可缩放、移动等y
//设置第一条线名称
ui->F1_1_C->graph(1)->setName("补偿前X");
//设置坐标轴标签名
ui->F1_1_C->xAxis->setLabel("C轴坐标/°");
ui->F1_1_C->yAxis->setLabel("误差值/mm");
//设置曲线宽度、线型、颜色
QPen pen1;
pen1.setWidth(5);
pen1.setColor(Qt::red);
pen1.setStyle(Qt::SolidLine);
ui->F1_1_C->graph(1)->setPen(pen1);
/*--------------------------------------------------------------2------------------------------------------------------------------*/
ui->F1_1_C->addGraph();//在F1_1_C图上添加第二条线
ui->F1_1_C->graph(2)->setName("补偿前Y");
//设置曲线宽度、线型、颜色
QPen pen2;
pen2.setWidth(5);
pen2.setColor(Qt::green);
pen2.setStyle(Qt::SolidLine);
ui->F1_1_C->graph(2)->setPen(pen2);
double y2= ;
ui->F1_1_C->graph(2)->setData(x1,y2);//添加数据
/*--------------------------------------------------------------3------------------------------------------------------------------*/
ui->F1_1_C->addGraph();//在F1_1_C图上添加第二条线
ui->F1_1_C->graph(3)->setName("补偿前Z");
//设置曲线宽度、线型、颜色
QPen pen3;
pen3.setWidth(5);
pen3.setColor(Qt::blue);
pen3.setStyle(Qt::SolidLine);
ui->F1_1_C->graph(3)->setPen(pen3);
double y3= ;
ui->F1_1_C->graph(3)->setData(x1,y3);//添加数据
/*--------------------------------------------------------------4------------------------------------------------------------------*/
ui->F1_1_C->addGraph();//在F1_1_C图上添加第二条线
ui->F1_1_C->graph(4)->setName("补偿量X");
//设置曲线宽度、线型、颜色
QPen pen4;
pen4.setWidth(5);
pen4.setColor(Qt::red);
pen4.setStyle(Qt::DashLine);
ui->F1_1_C->graph(4)->setPen(pen4);
double y4= ;
ui->F1_1_C->graph(4)->setData(x1,y4);//添加数据
/*--------------------------------------------------------------5------------------------------------------------------------------*/
ui->F1_1_C->addGraph();//在F1_1_C图上添加第二条线
ui->F1_1_C->graph(5)->setName("补偿量Y");
//设置曲线宽度、线型、颜色
QPen pen5;
pen5.setWidth(5);
pen5.setColor(Qt::green);
pen5.setStyle(Qt::DashLine);
ui->F1_1_C->graph(5)->setPen(pen5);
double y5= ;
ui->F1_1_C->graph(5)->setData(x1,y5);//添加数据
/*--------------------------------------------------------------6------------------------------------------------------------------*/
ui->F1_1_C->addGraph();//在F1_1_C图上添加第二条线
ui->F1_1_C->graph(6)->setName("补偿量Z");
//设置曲线宽度、线型、颜色
QPen pen6;
pen5.setWidth(6);
pen5.setColor(Qt::green);
pen5.setStyle(Qt::DashLine);
ui->F1_1_C->graph(6)->setPen(pen6);
double y6= ;
ui->F1_1_C->graph(6)->setData(x1,y6);//添加数据
//设置坐标轴显示范围
ui->F1_1_C->xAxis->setRange(0,400);
ui->F1_1_C->yAxis->setRange(-0.05,0.1);
//允许用户用鼠标拖动轴范围，用鼠标滚轮缩放，并通过单击选择图形
customPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom | QCP::iSelectPlottables);
}
Widget::~Widget()
{
delete ui;
}
void Widget::on_pushButton_1_clicked(bool checked)
{
QString num_a=ui->num_a->text();
QString max_a=ui->max_a->text();
QString min_a=ui->min_a->text();
QString step_a=ui->step_a->text();
QString num_c=ui->num_c->text();
QString max_c=ui->max_c->text();
QString min_c=ui->min_c->text();
QString step_c=ui->step_c->text();
qDebug()<<"num_a:"<<num_a<<endl;
}
void Widget::deal()
{
ifstream inFile;
inFile.open("D:\\MeasureData_sws.data");
if (!inFile) {
cerr << "don't able to open file";
exit(1);
}
string s;
double temdata[200][3] = { {0,0,0} };
int num = 0;
int num_row = 0;
int num_col = 0;
while (inFile >> s) {
//data += s;
//对每次读入的坐标进行处理，去除第一个字符X或Y或Z
//string tems;
//int len = s.length();
//for (int i = 0;i < len-1;i++) {
// tems[i] = s[i + 1];
//}
s.erase(0, s.find_first_not_of('X'));
s.erase(0, s.find_first_not_of('Y'));
s.erase(0, s.find_first_not_of('Z'));
double temnum = stod(s);
num_row = num / 3;
num_col = num % 3;
temdata[num_row][num_col] = temnum;
num++;
//cout.setf(ios::fixed, ios::floatfield);
//cout << temnum << endl;
}
//cout.setf(ios::fixed, ios::floatfield);
//cout << temdata[199][2] << endl;
//cout << data[0];
inFile.close();
//读取MeasureData_sws.data中的坐标数据
static mat MeasureData = mat(200, 3, fill::zeros);
for (int i = 0; i < 200;i++) {
for (int j = 0; j < 3;j++) {
MeasureData(i, j) = temdata[i][j];
}
}
//绘制误差图像
//位置相关误差项辨识计算
//刀尖点位置误差解算成各轴的几何误差
//C轴
mat errorC_pos = mat(6, num_c, fill::zeros);
mat VARYC = {
{1, 0 , 0, pointC1(2), -pointC1(1)},
{0, 1, -pointC1(2), 0, pointC1(0)},
{0, 0, pointC1(1), -pointC1(0), 0},
{1, 0, 0, pointC2(2), -pointC2(1)},
{0, 1, -pointC2(2), 0, pointC2(0)},
{0, 0, pointC2(1), -pointC2(0), 0}
};
mat VARYC_t1t = mat(5, 6, fill::zeros);
VARYC_t1t = inv(VARYC.t() * VARYC) * VARYC.t();
for (int i = 0;i < num_c;i++) {
double C = (min_c + step_c * i) * PI / 180;
mat rot = {
{cos(C), -sin(C), 0},
{sin(C), cos(C), 0},
{0, 0, 1}
};
mat rot_error_C = mat(6, 1, fill::zeros);
rot_error_C.rows(0, 2) = -rot * (error_C.row(i).cols(0, 2).t());
rot_error_C.rows(3, 5) = -rot * (error_C.row(i).cols(3, 5).t());
errorC_pos.rows(0, 4).col(i) = VARYC_t1t * rot_error_C;
errorC_pos.rows(3, 5).col(i) = errorC_pos.rows(2, 4).col(i);
errorC_pos(2, i) = 0;
}
mat errorC_pos_colzero = mat(errorC_pos.n_rows, 1, fill::zeros);
errorC_pos.rows(0, errorC_pos.n_rows - 1).col(0) = errorC_pos_colzero;
//cout << errorC_pos << endl;
//A轴
mat errorA_pos = mat(6, num_a, fill::zeros);
mat VARYA = {
{0, 0 , 0, pointA1(2) - Paz, -pointA1(1) - Pcy + Pay},
{1, 0, -pointA1(2) + Paz, 0, pointA1(0) + Pcx},
{0, 1, pointA1(1) + Pcy - Pay, -pointA1(0) - Pcx, 0},
{0, 0, 0, pointA2(2) - Paz, -pointA2(1) - Pcy + Pay},
{1, 0, -pointA2(2) + Paz, 0, pointA2(0) + Pcx},
{0, 1, pointA2(1) + Pcy - Pay, -pointA2(0) - Pcx, 0}
};
mat VARYA_t1t = mat(5, 6, fill::zeros);
VARYA_t1t = inv(VARYA.t() * VARYA) * VARYA.t();
for (int i = 0;i < num_a;i++) {
double A = (min_a + step_a * i) * PI / 180;
mat rot = {
{1, 0, 0},
{0, cos(A), -sin(A)},
{0, sin(A), cos(A)}
};
errorA_pos(0, i) = 0;
mat rot_error_A = mat(6, 1, fill::zeros);
rot_error_A.rows(0, 2) = -rot * (error_A.row(i).cols(0, 2).t());
rot_error_A.rows(3, 5) = -rot * (error_A.row(i).cols(3, 5).t());
errorA_pos.rows(1, 5).col(i) = VARYA_t1t * rot_error_A;
}
//cout << errorA_pos << endl;
//绘制误差曲线
//仿真计算
mat Tp_A = {
{1, 0, 0, 0},
{0, 1, 0, Pay},
{0, 0, 1, Paz},
{0, 0, 0, 1}
};
mat Tp_C = {
{1, 0, 0, Pcx},
{0, 1, 0, Pcy - Pay},
{0, 0, 1, -Paz},
{0, 0, 0, 1}
};
//C轴补偿效果
mat compensate_C = mat(8, num_c, fill::zeros);
mat pointC1_wt = mat(4, 1, fill::zeros);
pointC1_wt.rows(0, 2) = pointC1.t();
pointC1_wt(3) = 1;
mat pointC2_wt = mat(4, 1, fill::zeros);
pointC2_wt.rows(0, 2) = pointC2.t();
pointC2_wt(3) = 1;
for (int i = 0;i < num_c;i++) {
double C = (min_c + step_c * i) * PI / 180;
//A轴-C轴转换矩阵
mat Ts_C = {
{cos(C), sin(C), 0, 0},
{-sin(C), cos(C), 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}
};
mat Tse_C = {
{1, -errorC_pos(5,i), errorC_pos(4,i), errorC_pos(0,i)},
{errorC_pos(5,i), 1, -errorC_pos(3,i), errorC_pos(1,i)},
{-errorC_pos(4,i), errorC_pos(3,i), 1, errorC_pos(2,i)},
{0, 0, 0, 1}
};
//计算补偿量
//计算位置1轮廓误差
compensate_C.rows(0, 3).col(i) = Tp_A * Tp_C * Ts_C * pointC1_wt - Tp_A * Tp_C * Ts_C * Tse_C * pointC1_wt;
//计算位置2轮廓误差
compensate_C.rows(4, 7).col(i) = Tp_A * Tp_C * Ts_C * pointC2_wt - Tp_A * Tp_C * Ts_C * Tse_C * pointC2_wt;
}
//cout << compensate_C << endl;
//A轴补偿效果
mat compensate_A = mat(8, num_a, fill::zeros);
mat pointA1_wt = mat(4, 1, fill::zeros);
pointA1_wt.rows(0, 2) = pointA1.t();
pointA1_wt(3) = 1;
mat pointA2_wt = mat(4, 1, fill::zeros);
pointA2_wt.rows(0, 2) = pointA2.t();
pointA2_wt(3) = 1;
for (int i = 0;i < num_a;i++) {
double A = (min_a + step_a * i) * PI / 180;
//A轴-C轴转换矩阵
mat Ts_A = {
{1, 0, 0, 0},
{0, cos(A), sin(A), 0},
{0, -sin(A), cos(A), 0},
{0, 0, 0, 1}
};
mat Tse_A = {
{1, -errorA_pos(5,i), errorA_pos(4,i), errorA_pos(0,i)},
{errorA_pos(5,i), 1, -errorA_pos(3,i), errorA_pos(1,i)},
{-errorA_pos(4,i), errorA_pos(3,i), 1, errorA_pos(2,i)},
{0, 0, 0, 1}
};
//计算补偿量
//计算位置1轮廓误差
compensate_A.rows(0, 3).col(i) = Tp_A * Ts_A * Tp_C * pointA1_wt - Tp_A * Ts_A * Tse_A * Tp_C * pointA1_wt;
//计算位置2轮廓误差
compensate_A.rows(4, 7).col(i) = Tp_A * Ts_A * Tp_C * pointA2_wt - Tp_A * Ts_A * Tse_A * Tp_C * pointA2_wt;
}
cout << compensate_A << endl;
qDebug("waiting");
}
