[clinton/Smoothieware.git] / src / modules / robot / arm_solutions / RotatableCartesianSolution.h

#ifndef ROTATABLECARTESIANSOLUTION_H
#define ROTATABLECARTESIANSOLUTION_H
#include "libs/Module.h"
#include "libs/Kernel.h"
#include "BaseSolution.h"
#include "libs/nuts_bolts.h"

#include "libs/Config.h"

#define alpha_angle_checksum        CHECKSUM("alpha_angle")

class RotatableCartesianSolution : public BaseSolution {
    public:
        RotatableCartesianSolution(Config*);
        void cartesian_to_actuator(const float[], float[] );
        void actuator_to_cartesian(const float[], float[] );

        void rotate(const float in[], float out[], float sin, float cos );

        float sin_alpha;
        float cos_alpha;
};


#endif // ROTATABLECARTESIANSOLUTION_H
Commit	Line	Data
b73a756d L	1	#ifndef ROTATABLECARTESIANSOLUTION_H
	2	#define ROTATABLECARTESIANSOLUTION_H
	3	#include "libs/Module.h"
	4	#include "libs/Kernel.h"
	5	#include "BaseSolution.h"
	6	#include "libs/nuts_bolts.h"
	7
	8	#include "libs/Config.h"
	9
b73a756d L	10	#define alpha_angle_checksum CHECKSUM("alpha_angle")
	11
	12	class RotatableCartesianSolution : public BaseSolution {
	13	public:
78d0e16a	14	RotatableCartesianSolution(Config*);
3cc3f421 OL	15	void cartesian_to_actuator(const float[], float[] );
3cc3f421 OL	16	void actuator_to_cartesian(const float[], float[] );
b73a756d	17
3cc3f421	18	void rotate(const float in[], float out[], float sin, float cos );
b73a756d	19
1ad23cd3 MM	20	float sin_alpha;
1ad23cd3 MM	21	float cos_alpha;
b73a756d L	22	};
	23
	24
	25	#endif // ROTATABLECARTESIANSOLUTION_H
	26