Michael Spencer / Smoothie

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Show/hide line numbers RotatableCartesianSolution.h Source File

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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