MotorFrameTransform.hh

 
//
// Copyright (C) 2011-2019 Yusuke Asai & Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef DQTRANSFORM
#define DQTRANSFORM
 
namespace ARCS {
    std::tuple<double, double> UVWtoAB(const double u, const double v, const double w);                     
    std::tuple<double, double> UVWtoDQ(const double u, const double v, const double w, const double theta); 
    std::tuple<double, double, double> DQtoUVW(const double d, const double q, const double theta);         
    void dq_uvw(double d, double q, double theta, double *u, double *v, double *w);     // dq→uvw変換
    void dq_uvw_inv(double u, double v, double w, double theta, double *d, double *q);  // 逆dq→uvw変換
    void dq_uv(double d, double q, double theta, double *u, double *v); // dq-uv 変換行列 位置の単位に注意　degではなく『rad』
}
 
#endif