Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Transforms/Transforms.cpp
- Committer:
- bwang
- Date:
- 2017-04-06
- Revision:
- 92:a9dac72d8cac
- Parent:
- 42:030e0ec4eac5
- Child:
- 192:3152a86cd108
File content as of revision 92:a9dac72d8cac:
#include "math.h" #include "Transforms.h" void clarke(float a, float b, float *alpha, float *beta) { *alpha = a; *beta = 1 / sqrtf(3.0f) * a + 2 / sqrtf(3.0f) * b; } void park(float alpha, float beta, float sin_p, float cos_p, float *d, float *q) { *d = alpha * cos_p + beta * sin_p; *q = -alpha * sin_p + beta * cos_p; } void invpark(float d, float q, float sin_p, float cos_p, float *alpha, float *beta) { *alpha = d * cos_p - q * sin_p; *beta = d * sin_p + q * cos_p; } void invclarke(float alpha, float beta, float *a, float *b) { *a = alpha; *b = -0.5f * alpha + sqrtf(3) / 2.0f * beta; }