18 lines
591 B
C
18 lines
591 B
C
#pragma once
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#include "cnc_sim_api.h"
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struct RtcpVector {
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double x;
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double y;
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double z;
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};
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// Rotation order is intrinsic tool orientation A then B then C, represented as
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// Rz(C) * Ry(B) * Rx(A) applied to a local tool vector.
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RtcpVector rtcp_rotate_abc_degrees(RtcpVector vector, double a_deg, double b_deg, double c_deg);
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RtcpVector rtcp_tool_vector_from_pose(const CncSimPose &pose, double tool_length);
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CncSimPose rtcp_pivot_from_tool_tip(const CncSimPose &tool_tip, double tool_length);
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CncSimPose rtcp_tool_tip_from_pivot(const CncSimPose &pivot, double tool_length);
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