JohannKosselSolution.h

00001 #ifndef JOHANNKOSSELSOLUTION_H
00002 #define ROSTOCKSOLUTION_H
00003 #include "libs/Module.h"
00004 #include "libs/Kernel.h"
00005 #include "BaseSolution.h"
00006 #include "libs/nuts_bolts.h"
00007 
00008 #include "libs/Config.h"
00009 
00010 #define arm_length_checksum         CHECKSUM("arm_length")
00011 #define arm_radius_checksum         CHECKSUM("arm_radius")
00012 
00013 class JohannKosselSolution : public BaseSolution {
00014     public:
00015         JohannKosselSolution(Config*);
00016         void cartesian_to_actuator( float[], float[] );
00017         void actuator_to_cartesian( float[], float[] );
00018 
00019         bool set_optional(char parameter, float value);
00020         bool get_optional(char parameter, float *value);
00021 
00022     private:
00023         void init();
00024 
00025         float arm_length;
00026         float arm_radius;
00027         float arm_length_squared;
00028 
00029         float DELTA_TOWER1_X;
00030         float DELTA_TOWER1_Y;
00031         float DELTA_TOWER2_X;
00032         float DELTA_TOWER2_Y;
00033         float DELTA_TOWER3_X;
00034         float DELTA_TOWER3_Y;
00035 };
00036 #endif // JOHANNKOSSELSOLUTION_H