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