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RotatableCartesianSolution.h
00001 #ifndef ROTATABLECARTESIANSOLUTION_H 00002 #define ROTATABLECARTESIANSOLUTION_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 alpha_angle_checksum CHECKSUM("alpha_angle") 00011 00012 class RotatableCartesianSolution : public BaseSolution { 00013 public: 00014 RotatableCartesianSolution(Config*); 00015 void cartesian_to_actuator( float[], float[] ); 00016 void actuator_to_cartesian( float[], float[] ); 00017 00018 void rotate( float in[], float out[], float sin, float cos ); 00019 00020 float sin_alpha; 00021 float cos_alpha; 00022 }; 00023 00024 00025 #endif // ROTATABLECARTESIANSOLUTION_H 00026
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