puedes ayudarme a separar esta ecuacion de C++ en numerador y denominador ademas de acomodarla para que sea mas legible ?: // velocidad angular q1 for (uint8_t i = 0; i <= 100; i++){ q1_punto[i] = std::atan((VY_TCP[i] * std::cos(q1_wrist_R[i])) / (L_3 * std::cos(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::cos(q1_wrist_R[i]), 2) + L_2 * std::sin(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::cos(q1_wrist_R[i]), 2) + L_3 * std::cos(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::sin(q1_wrist_R[i]), 2) + L_2 * std::sin(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::sin(q1_wrist_R[i]), 2) + L_1 * std::pow(std::cos(q1_wrist_R[i]), 2) * std::sin(q2_wrist_R[i]) + L_1 * std::pow(std::sin(q1_wrist_R[i]), 2) * std::sin(q2_wrist_R[i]))) - std::atan((VX_TCP[i] * std::sin(q1_wrist_R[i])) / (L_3 * std::cos(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::cos(q1_wrist_R[i]), 2) + L_2 * std::sin(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::cos(q1_wrist_R[i]), 2) + L_3 * std::cos(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::sin(q1_wrist_R[i]), 2) + L_2 * std::sin(q2_wrist_R[i] + q3_wrist_R[i]) * std::pow(std::sin(q1_wrist_R[i]), 2) + L_1 * std::pow(std::cos(q1_wrist_R[i]), 2) * std::sin(q2_wrist_R[i]) + L_1 * std::pow(std::sin(q1_wrist_R[i]), 2) * std::sin(q2_wrist_R[i]))); q1_punto[i] *= 180/M_PI; std::cout << q1_punto[i]; if(i < 100) { std::cout << ", "; // Agregué esta línea para imprimir los valores separados por comas } } std::cout<<std::endl; std::cout<<std::endl;