Commit 70955793 authored by Daniel Flickinger's avatar Daniel Flickinger
Browse files

Filled in position transformation functions for RMCD
parent ed054099
/* Robot Master Control Daemon /* Robot Master Control Daemon
* *
* Dan Flickinger * Dan Flickinger
* * ***
* *
* RMCD will immediately try to connect to EMCD, get configuration data, * RMCD will immediately try to connect to EMCD, get configuration data,
* and then open connections to all robots as sent by EMCD. RMCD only heeds * and then open connections to all robots as sent by EMCD. RMCD only heeds
...@@ -21,7 +21,7 @@ ...@@ -21,7 +21,7 @@
* *
* *
* 2004/12/01 * 2004/12/01
* 2004/12/07 * 2004/12/14
*/ */
#include <stdio.h> #include <stdio.h>
...@@ -197,7 +197,12 @@ static void conv_a2r(struct position *rel, ...@@ -197,7 +197,12 @@ static void conv_a2r(struct position *rel,
assert(abs_start != NULL); assert(abs_start != NULL);
assert(abs_finish != NULL); assert(abs_finish != NULL);
*rel = *abs_finish; // XXX DAN, fill this out. rel->x = abs_finish->x - abs_start->x;
rel->y = abs_finish->y - abs_start->y;
rel->theta = abs_finish->theta - abs_start->theta;
rel->timestamp = abs_finish->timestamp;
//*rel = *abs_finish; // XXX DAN, fill this out.
} }
/** /**
...@@ -216,7 +221,12 @@ static void conv_r2a(struct position *abs_finish, ...@@ -216,7 +221,12 @@ static void conv_r2a(struct position *abs_finish,
assert(abs_start != NULL); assert(abs_start != NULL);
assert(abs_finish != NULL); assert(abs_finish != NULL);
*abs_finish = *rel; // XXX DAN, fill this out. abs_finish->x = abs_start->x + rel->x;
abs_finish->y = abs_start->y + rel->y;
abs_finish->theta = abs_start->theta + rel->theta;
abs_finish->timestamp = rel->timestamp;
//*abs_finish = *rel; // XXX DAN, fill this out.
} }
/** /**
......
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