N K / Mbed 2 deprecated priustroller_2

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Dependencies:   mbed

Fork of priustroller by Bayley Wang

util/transforms.cpp

Committer:
bwang
Date:
2015-03-08
Revision:
11:dccbaa9274c5
Child:
14:1cc975207995

File content as of revision 11:dccbaa9274c5:

#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;                                
}