BioRobotics / angleandposition

Library to calculate angles from positions and vice versa (also used for shooting angles)

Dependents:   includeair includeair calcul_Ueff2 Mesure_energie

angleandposition.h@5:2dc21bf3f3a0, 2015-10-29 (annotated)

Committer:
Gerth
Date:
Thu Oct 29 14:51:02 2015 +0000
Revision:
5:2dc21bf3f3a0
Parent:
4:9492c1c361b9 
corrected for deviation of angle

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:b8295c4b5793 1 #ifndef _ANGLEANDPOSITION_H_
Gerth 0:b8295c4b5793 2 #define _ANGLEANDPOSITION_H_
Gerth 0:b8295c4b5793 3
Gerth 0:b8295c4b5793 4 #include "mbed.h"
Gerth 0:b8295c4b5793 5 #include "math.h"
Gerth 0:b8295c4b5793 6
Gerth 0:b8295c4b5793 7 class angleandposition
Gerth 0:b8295c4b5793 8 {
Gerth 0:b8295c4b5793 9 public:
Gerth 3:067c75c62882 10 /**
Gerth 3:067c75c62882 11 *Constructor
Gerth 3:067c75c62882 12 */
Gerth 0:b8295c4b5793 13 angleandposition(void);
Gerth 0:b8295c4b5793 14
Gerth 3:067c75c62882 15 /**
Gerth 3:067c75c62882 16 *Calculates required angle for rigth arm from desired position.
Gerth 4:9492c1c361b9 17 *@param x_position : double Desired x position in mm
Gerth 4:9492c1c361b9 18 *@param y_position : double Desired y position in mm
Gerth 3:067c75c62882 19 *@return Required angle for rigth arm in rad
Gerth 3:067c75c62882 20 */
Gerth 4:9492c1c361b9 21 double positiontoangle1 (double x_position,double y_position);
Gerth 3:067c75c62882 22
Gerth 3:067c75c62882 23 /**
Gerth 3:067c75c62882 24 *Calculates required angle for left arm from desired position.
Gerth 4:9492c1c361b9 25 *@param x_position : double Desired x position in mm
Gerth 4:9492c1c361b9 26 *@param y_position : double Desired y position in mm
Gerth 3:067c75c62882 27 *@return Required angle for left arm in rad
Gerth 3:067c75c62882 28 */
Gerth 4:9492c1c361b9 29 double positiontoangle2 (double x_position,double y_position);
Gerth 3:067c75c62882 30
Gerth 3:067c75c62882 31 /**
Gerth 3:067c75c62882 32 *Calculates the x position of the pod from the angles of the arms
Gerth 4:9492c1c361b9 33 *@param theta_r : double Angle of rigth arm in rad
Gerth 4:9492c1c361b9 34 *@param theta_l : double Angle of left arm in rad
Gerth 3:067c75c62882 35 *@return X position of pod in mm
Gerth 3:067c75c62882 36 */
Gerth 4:9492c1c361b9 37 double angletoposition (double theta_r,double theta_l);
Gerth 3:067c75c62882 38
Gerth 3:067c75c62882 39 /**
Gerth 3:067c75c62882 40 *Calculates the y position of the pod from the angles of the arms
Gerth 4:9492c1c361b9 41 *@param theta_r : double Angle of rigth arm in rad
Gerth 4:9492c1c361b9 42 *@param theta_l : double Angle of left arm in rad
Gerth 3:067c75c62882 43 *@return Y position of pod in mm
Gerth 3:067c75c62882 44 */
Gerth 4:9492c1c361b9 45 double angletoposition_y(double theta_r,double theta_l);
Gerth 3:067c75c62882 46
Gerth 0:b8295c4b5793 47
Gerth 0:b8295c4b5793 48 private:
Gerth 0:b8295c4b5793 49
Gerth 0:b8295c4b5793 50 };
Gerth 0:b8295c4b5793 51 #endif