Diff: angleandposition.h

Revision:

3:067c75c62882

Parent:

1:6cace9fdb088

Child:

4:9492c1c361b9

--- a/angleandposition.h	Mon Oct 19 15:05:21 2015 +0000
+++ b/angleandposition.h	Tue Oct 27 16:13:26 2015 +0000
@@ -7,11 +7,43 @@
 class angleandposition
 {
 public:
-
+    /**
+    *Constructor
+    */
     angleandposition(void);
 
+    /**
+    *Calculates required angle for rigth arm from desired position.
+    *@param x_position : float Desired x position in mm
+    *@param y_position : float Desired y position in mm
+    *@return Required angle for rigth arm in rad
+    */
     float positiontoangle1 (float x_position,float y_position);
+
+    /**
+    *Calculates required angle for left arm from desired position.
+    *@param x_position : float Desired x position in mm
+    *@param y_position : float Desired y position in mm
+    *@return Required angle for left arm in rad
+    */
     float positiontoangle2 (float x_position,float y_position);
+    
+    /**
+    *Calculates the x position of the pod from the angles of the arms
+    *@param theta_r : float Angle of rigth arm in rad
+    *@param theta_l : float Angle of left arm in rad
+    *@return X position of pod in mm
+    */    
+    float angletoposition (float theta_r,float theta_l);
+    
+     /**
+    *Calculates the y position of the pod from the angles of the arms
+    *@param theta_r : float Angle of rigth arm in rad
+    *@param theta_l : float Angle of left arm in rad
+    *@return Y position of pod in mm
+    */ 
+    float angletoposition_y(float theta_r,float theta_l);
+
 
 private: