N K
/
priustroller_2
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Fork of
priustroller
by 
Bayley Wang
Diff: util/transforms.cpp
- Revision:
- 11:dccbaa9274c5
- Child:
- 14:1cc975207995
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/util/transforms.cpp Sun Mar 08 08:37:38 2015 +0000
@@ -0,0 +1,22 @@
+#include "includes.h"
+#include "transforms.h"
+#include "fastmath.h"
+
+void Transforms::Clarke(float a, float b, float *alpha, float *beta) {
+ *alpha = a;
+ *beta = (a + 2.0f * b)/sqrt(3.0f);
+}
+
+void Transforms::Parke(float alpha, float beta, float theta, float *d, float *q) {
+ float cos = FastCos(theta);
+ float sin = FastSin(theta);
+ *d = alpha * cos + beta * sin;
+ *q = -alpha * sin + beta * cos;
+}
+
+void Transforms::InverseParke(float d, float q, float theta, float *alpha, float *beta) {
+ float cos = FastCos(theta);
+ float sin = FastSin(theta);
+ *alpha = cos * d - sin * q;
+ *beta = sin * d + cos * q;
+}
\ No newline at end of file