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IFunctions.h

00001 #ifndef SIGEL_ROBOT_IFUNCTIONS
00002 #define SIGEL_ROBOT_IFUNCTIONS
00003 
00004 #include <pointvector.h>
00005 #include <matrix.h>
00006 #include <qstring.h>
00007 
00008 namespace SIGEL_Robot {
00009 
00010         double tolerantACos( double cosInput );
00011 
00012         DL_matrix rotationMatrix(DL_vector v, DL_Scalar phi);
00013 
00014         void calculateAnyJoint (DL_vector D, DL_vector E, DL_vector F,
00015                                 DL_vector A, DL_vector B, DL_vector C,
00016                                 double winkel, double verschiebung,
00017                                 DL_matrix & o, DL_vector & t,
00018                                 QString someIdentifier);
00019 }
00020 
00021 #endif

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