src/modules/robot/arm_solutions/ExperimentalDeltaSolution.h

   1 #ifndef EXPERIMENTALDELTASOLUTION_H
   2 #define EXPERIMENTALDELTASOLUTION_H
   3
   4 #include "BaseSolution.h"
   5
   6 class Config;
   7
   8 class ExperimentalDeltaSolution : public BaseSolution {
   9     public:
  10         ExperimentalDeltaSolution(Config*);
  11         void cartesian_to_actuator( float[], float[] );
  12         void actuator_to_cartesian( float[], float[] );
  13
  14         float solve_arm( float millimeters[] );
  15         void rotate( float in[], float out[], float sin, float cos );
  16
  17     private:
  18         float arm_length;
  19         float arm_radius;
  20         float arm_length_squared;
  21
  22         float sin_alpha;
  23         float cos_alpha;
  24         float sin_beta;
  25         float cos_beta;
  26         float sin_gamma;
  27         float cos_gamma;
  28 };
  29
  30
  31
  32
  33
  34
  35 #endif // EXPERIMENTALDELTASOLUTION_H