Diff: main.cpp

Revision:

40:eb7f8dce5787

Parent:

38:6d11788e14c0

Child:

41:d8067ab9def5

--- a/main.cpp	Thu May 05 16:03:34 2022 +0000
+++ b/main.cpp	Thu May 05 16:19:53 2022 +0000
@@ -2,6 +2,7 @@
 #include <math.h>
 
 #include "PM2_Libary.h"
+#include "Eigen/Dense.h"
 
 # define M_PI 3.14159265358979323846  // number pi
 
@@ -53,13 +54,17 @@
 float r_wheel = 0.0358f / 2.0f;
 float L_wheel = 0.143f;
 // transform wheel to robot
-float Crw[2][2] = {{r_wheel / 2.0f, r_wheel / 2.0f}, {r_wheel / L_wheel, -r_wheel / L_wheel}};
+Eigen::Matrix<float, 2, 2> Crw;
+Eigen::Matrix<float, 2, 2> Cwr;
+//Eigen::Matrix<float, 2, 2> Crw {{r_wheel / 2.0f, r_wheel / 2.0f}, {r_wheel / L_wheel, -r_wheel / L_wheel}};
 // transform robot to wheel
-float Cwr[2][2] = {{1.0f / r_wheel, L_wheel / (2.0f * r_wheel)}, {1.0f / r_wheel, -L_wheel / (2.0f * r_wheel)}};
-// float Test = Crw[0][]
+// Eigen::Matrix<float, 2, 2> Cwr { {1.0f / r_wheel, L_wheel / (2.0f * r_wheel)}, {1.0f / r_wheel, -L_wheel / (2.0f * r_wheel)} };
 
 int main()
 {
+    Crw << r_wheel / 2.0f,             r_wheel / 2.0f, r_wheel / L_wheel, -r_wheel / L_wheel         ;
+    Cwr << 1.0f / r_wheel, L_wheel / (2.0f * r_wheel),    1.0f / r_wheel, -L_wheel / (2.0f * r_wheel);
+    
     // attach button fall and rise functions to user button object
     user_button.fall(&user_button_pressed_fcn);
     user_button.rise(&user_button_released_fcn);