src/modules/robot/arm_solutions/RotatableCartesianSolution.h

   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
  10 #define alpha_angle_checksum        CHECKSUM("alpha_angle")
  11
  12 class RotatableCartesianSolution : public BaseSolution {
  13     public:
  14         RotatableCartesianSolution(Config*);
  15         void cartesian_to_actuator(const float[], ActuatorCoordinates &) override;
  16         void actuator_to_cartesian(const ActuatorCoordinates &, float[] ) override;
  17
  18     private:
  19         void rotate(const float in[], float out[], float sin, float cos);
  20
  21         float sin_alpha;
  22         float cos_alpha;
  23 };
  24
  25
  26 #endif // ROTATABLECARTESIANSOLUTION_H
  27