抓取分析测试

public void Pick_Down(double[] pointt1, double[] pointt2, double[] pointt3)
        {
            Trajectory_yuanhu.trajectory_s(pointt1, pointt2);
            int Row;
            Row = Trajectory_yuanhu.Nn + 1;
            double[,] B11 = new double[Row, 3];
            double[,] B12 = new double[Row, 3];
            double[,] B13 = new double[Row, 3];
            Point_Down(pointt1, pointt2);
            //将轨迹对应的逆解求出
            
            for (int i = 0; i < Row; i = i + 1)
            {
                B11[i, 0] = Inverse.B1[i, 0];
                B11[i, 1] = Inverse.B1[i, 1];
                B11[i, 2] = Inverse.B1[i, 2];
            }
            Point_Down(pointt2, pointt3);
            for (int i = 0; i < Row; i = i + 1)
            {
                B12[i, 0] = Inverse.B1[i, 0];
                B12[i, 1] = Inverse.B1[i, 1];
                B12[i, 2] =