Carlo Collodi
/
kangaroo
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Diff: src/dynamics.cpp
- Revision:
- 46:4497e945de6b
- Parent:
- 43:68faf056ed5c
- Child:
- 55:ff84fbdfd1d1
--- a/src/dynamics.cpp Sun Dec 01 07:23:22 2013 +0000
+++ b/src/dynamics.cpp Sun Dec 01 20:13:35 2013 +0000
@@ -10,5 +10,4 @@
float theta2 = -3.14159+((float) acos((x*x+y*y-(l2+l4)*(l2+l4)-l3*l3)/(2*(l2+l4)*l3)))+3.1415/8;
float theta1 = -atan2(y,x)-acos((l3*l3-x*x-y*y-(l2+l4)*(l2+l4))/(2*(l2+l4)*sqrt(x*x+y*y)));
return Joints(theta1, theta2);
-}
-
+}
\ No newline at end of file
