Diff: Transforms/Transforms.cpp

Revision:

0:bac9c3a3a6ca

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Transforms/Transforms.cpp	Wed Mar 09 06:44:51 2016 +0000
@@ -0,0 +1,28 @@
+#include "mbed.h"
+#include "Transforms.h"
+
+void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
+    float cosine = cos(theta);
+    float sine = sin(theta);
+    *d = alpha * cosine - beta * sine;
+    *q = -beta * cosine - alpha * sine;
+}
+
+void Transforms::InvPark(float d, float q, float theta, float *alpha, float *beta){
+    float cosine = cos(theta);
+    float sine = sin(theta);
+    *alpha = d * cosine - q * sine;
+    *beta = q * cosine + d * sine;
+}
+
+void Transforms::Clarke(float a, float b, float *alpha, float *beta){
+    *alpha = a;
+    *beta = sqrtf(3.0f) / 3.0f * (a + 2.0f * b);
+}
+
+void Transforms::InvClarke(float alpha, float beta, float *a, float *b, float *c){
+    *a = alpha;
+    *b = 0.5f * (-alpha + sqrtf(3.0f) * beta);
+    *c = 0.5f * (-alpha - sqrtf(3.0f) * beta);
+} 
+