Carlo Collodi / kangaroo

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   QEI mbed

include/geom.hpp@37:bf257a0154db, 2013-11-24 (annotated)

Committer:
calamaridudeman
Date:
Sun Nov 24 20:38:59 2013 +0000
Revision:
37:bf257a0154db
Parent:
23:112c0be5a7f3
Child:
43:68faf056ed5c
integrated sams inverse kinematics code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 23:112c0be5a7f3 1 #include "mbed.h"
calamaridudeman 23:112c0be5a7f3 2
calamaridudeman 23:112c0be5a7f3 3 #ifndef GEOM_HPP
calamaridudeman 23:112c0be5a7f3 4 #define GEOM_HPP
calamaridudeman 23:112c0be5a7f3 5
calamaridudeman 23:112c0be5a7f3 6 class Tuple{
calamaridudeman 23:112c0be5a7f3 7 public:
calamaridudeman 23:112c0be5a7f3 8 Tuple(int xin, int yin);
calamaridudeman 23:112c0be5a7f3 9
calamaridudeman 23:112c0be5a7f3 10 int x;
calamaridudeman 23:112c0be5a7f3 11 int y;
calamaridudeman 23:112c0be5a7f3 12 };
calamaridudeman 23:112c0be5a7f3 13
calamaridudeman 37:bf257a0154db 14 class Joints{
calamaridudeman 37:bf257a0154db 15 public:
calamaridudeman 37:bf257a0154db 16 Joints(float t1in, float t2in);
calamaridudeman 37:bf257a0154db 17
calamaridudeman 37:bf257a0154db 18 float t1;
calamaridudeman 37:bf257a0154db 19 float t2;
calamaridudeman 37:bf257a0154db 20 };
calamaridudeman 37:bf257a0154db 21
calamaridudeman 23:112c0be5a7f3 22 class Point {
calamaridudeman 23:112c0be5a7f3 23 public:
calamaridudeman 23:112c0be5a7f3 24 Point(float xin, float yin, float thetain);
calamaridudeman 23:112c0be5a7f3 25
calamaridudeman 23:112c0be5a7f3 26 float x;
calamaridudeman 23:112c0be5a7f3 27 float y;
calamaridudeman 23:112c0be5a7f3 28 float theta;
calamaridudeman 23:112c0be5a7f3 29 };
calamaridudeman 23:112c0be5a7f3 30
calamaridudeman 23:112c0be5a7f3 31 class Line {
calamaridudeman 23:112c0be5a7f3 32 public:
calamaridudeman 23:112c0be5a7f3 33 Line(Point p1, Point p2);
calamaridudeman 23:112c0be5a7f3 34
calamaridudeman 23:112c0be5a7f3 35 Point p1;
calamaridudeman 23:112c0be5a7f3 36 Point p2;
calamaridudeman 23:112c0be5a7f3 37 };
calamaridudeman 23:112c0be5a7f3 38
calamaridudeman 23:112c0be5a7f3 39 class BezCurve {
calamaridudeman 23:112c0be5a7f3 40
calamaridudeman 23:112c0be5a7f3 41 public:
calamaridudeman 23:112c0be5a7f3 42 BezCurve(Point *ptsin, int sizein);
calamaridudeman 23:112c0be5a7f3 43
calamaridudeman 23:112c0be5a7f3 44 void startCurve();
calamaridudeman 23:112c0be5a7f3 45 Point getPoint(float alpha);
calamaridudeman 23:112c0be5a7f3 46 Point getPoint();
calamaridudeman 23:112c0be5a7f3 47 void setAlpha(float alpha);
calamaridudeman 23:112c0be5a7f3 48 float incrementAlpha();
calamaridudeman 23:112c0be5a7f3 49 float incrementAlpha(float velin, float time);
calamaridudeman 23:112c0be5a7f3 50 void setAdot(float velin);
calamaridudeman 23:112c0be5a7f3 51 Point newPoint();
calamaridudeman 23:112c0be5a7f3 52
calamaridudeman 23:112c0be5a7f3 53 Point *pts;
calamaridudeman 23:112c0be5a7f3 54
calamaridudeman 23:112c0be5a7f3 55 private:
calamaridudeman 23:112c0be5a7f3 56 int size;
calamaridudeman 23:112c0be5a7f3 57 float alpha;
calamaridudeman 23:112c0be5a7f3 58 float vel;
calamaridudeman 23:112c0be5a7f3 59 Timer t;
calamaridudeman 23:112c0be5a7f3 60 };
calamaridudeman 23:112c0be5a7f3 61
calamaridudeman 23:112c0be5a7f3 62 #endif