Library to calculate angles from positions and vice versa (also used for shooting angles)
Dependents: includeair includeair calcul_Ueff2 Mesure_energie
angleandposition.h
- Committer:
- Gerth
- Date:
- 2015-10-29
- Revision:
- 4:9492c1c361b9
- Parent:
- 3:067c75c62882
File content as of revision 4:9492c1c361b9:
#ifndef _ANGLEANDPOSITION_H_ #define _ANGLEANDPOSITION_H_ #include "mbed.h" #include "math.h" class angleandposition { public: /** *Constructor */ angleandposition(void); /** *Calculates required angle for rigth arm from desired position. *@param x_position : double Desired x position in mm *@param y_position : double Desired y position in mm *@return Required angle for rigth arm in rad */ double positiontoangle1 (double x_position,double y_position); /** *Calculates required angle for left arm from desired position. *@param x_position : double Desired x position in mm *@param y_position : double Desired y position in mm *@return Required angle for left arm in rad */ double positiontoangle2 (double x_position,double y_position); /** *Calculates the x position of the pod from the angles of the arms *@param theta_r : double Angle of rigth arm in rad *@param theta_l : double Angle of left arm in rad *@return X position of pod in mm */ double angletoposition (double theta_r,double theta_l); /** *Calculates the y position of the pod from the angles of the arms *@param theta_r : double Angle of rigth arm in rad *@param theta_l : double Angle of left arm in rad *@return Y position of pod in mm */ double angletoposition_y(double theta_r,double theta_l); private: }; #endif