1 #ifndef EXPERIMENTALDELTASOLUTION_H
2 #define EXPERIMENTALDELTASOLUTION_H
4 #include "BaseSolution.h"
8 class ExperimentalDeltaSolution
: public BaseSolution
{
10 ExperimentalDeltaSolution(Config
*);
11 void cartesian_to_actuator(const float[], ActuatorCoordinates
&) override
;
12 void actuator_to_cartesian(const ActuatorCoordinates
&, float[] ) override
;
15 float solve_arm( float millimeters
[] );
16 void rotate(const float in
[], float out
[], float sin
, float cos
);
20 float arm_length_squared
;
35 #endif // EXPERIMENTALDELTASOLUTION_H