Classes | Functions | Variables
noid::common Namespace Reference

Classes

struct  dualJoint
 
struct  S2AData
 

Functions

float ElbowPitchInvTable (float _stroke)
 
float ElbowPitchTable (float _angle)
 
float LegInvTable (float _stroke)
 
float LegTable (float _angle)
 
void MaskRobotCommand (std::vector< int16_t > &_strokes, const std::vector< bool > _angles)
 
float NeckPitchInvTable (float _stroke)
 
float NeckRollInvTable (float _stroke)
 
dualJoint NeckRollPitchTable (float _angle1, float _angle2)
 
float ShoulderPitchInvTable (float _stroke)
 
float ShoulderPitchTable (float _angle)
 
float ShoulderRollInvTable (float _stroke)
 
float ShoulderRollTable (float _angle)
 
float WaistPitchInvTable (float _stroke)
 
float WaistRollInvTable (float _stroke)
 
dualJoint WaistRollPitchTable (float _angle1, float _angle2)
 
float WristPitchInvTable (float _stroke)
 
float WristRollInvTable (float _stroke)
 
dualJoint WristRollPitchTable (float _angle1, float _angle2)
 

Variables

static const int ArrayElbowPitchInvTableOffset = -42
 
static const int ArrayElbowPitchTableOffset = 0
 
static const int ArrayLegInvTableOffset = 0
 
static const int ArrayLegTableOffset = 0
 
static const int ArrayNeckPitchInvTableOffset = -3
 
static const int ArrayNeckRollInvTableOffset = -7
 
static const int ArrayNeckRollPitchTableOffset1 = -20
 
static const int ArrayNeckRollPitchTableOffset2 = -20
 
static const int ArrayShoulderPitchInvTableOffset = -45
 
static const int ArrayShoulderPitchTableOffset = -20
 
static const int ArrayShoulderRollInvTableOffset = 0
 
static const int ArrayShoulderRollTableOffset = 0
 
static const int ArrayWaistPitchInvTableOffset = -5
 
static const int ArrayWaistRollInvTableOffset = -5
 
static const int ArrayWaistRollPitchTableOffset1 = -8
 
static const int ArrayWaistRollPitchTableOffset2 = -9
 
static const int ArrayWristPitchInvTableOffset = -1
 
static const int ArrayWristRollInvTableOffset = -14
 
static const int ArrayWristRollPitchTableOffset1 = -10
 
static const int ArrayWristRollPitchTableOffset2 = -30
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > ElbowPitchInvTableCandidates = {{{{0,-42.426,0},{1,-42.165,0.261}},{}}, {{{2,-41.901,0.264},{3,-41.633,0.268},{4,-41.363,0.27},{5,-41.089,0.274}},{{0,-42.426,0},{1,-42.165,0.261}}}, {{{6,-40.813,0.276},{7,-40.534,0.279},{8,-40.252,0.282}},{{2,-41.901,0.264},{3,-41.633,0.268},{4,-41.363,0.27},{5,-41.089,0.274}}}, {{{9,-39.968,0.284},{10,-39.682,0.286},{11,-39.394,0.288},{12,-39.104,0.29}},{{6,-40.813,0.276},{7,-40.534,0.279},{8,-40.252,0.282}}}, {{{13,-38.811,0.293},{14,-38.518,0.293},{15,-38.222,0.296}},{{9,-39.968,0.284},{10,-39.682,0.286},{11,-39.394,0.288},{12,-39.104,0.29}}}, {{{16,-37.926,0.296},{17,-37.627,0.299},{18,-37.328,0.299},{19,-37.027,0.301}},{{13,-38.811,0.293},{14,-38.518,0.293},{15,-38.222,0.296}}}, {{{20,-36.726,0.301},{21,-36.423,0.303},{22,-36.119,0.304}},{{16,-37.926,0.296},{17,-37.627,0.299},{18,-37.328,0.299},{19,-37.027,0.301}}}, {{{23,-35.815,0.304},{24,-35.510,0.305},{25,-35.204,0.306}},{{20,-36.726,0.301},{21,-36.423,0.303},{22,-36.119,0.304}}}, {{{26,-34.898,0.306},{27,-34.591,0.307},{28,-34.284,0.307}},{{23,-35.815,0.304},{24,-35.510,0.305},{25,-35.204,0.306}}}, {{{29,-33.976,0.308},{30,-33.668,0.308},{31,-33.360,0.308},{32,-33.052,0.308}},{{26,-34.898,0.306},{27,-34.591,0.307},{28,-34.284,0.307}}}, {{{33,-32.744,0.308},{34,-32.436,0.308},{35,-32.128,0.308}},{{29,-33.976,0.308},{30,-33.668,0.308},{31,-33.360,0.308},{32,-33.052,0.308}}}, {{{36,-31.820,0.308},{37,-31.512,0.308},{38,-31.204,0.308}},{{33,-32.744,0.308},{34,-32.436,0.308},{35,-32.128,0.308}}}, {{{39,-30.897,0.307},{40,-30.590,0.307},{41,-30.283,0.307}},{{36,-31.820,0.308},{37,-31.512,0.308},{38,-31.204,0.308}}}, {{{42,-29.977,0.306},{43,-29.671,0.306},{44,-29.366,0.305},{45,-29.061,0.305}},{{39,-30.897,0.307},{40,-30.590,0.307},{41,-30.283,0.307}}}, {{{46,-28.757,0.304},{47,-28.454,0.303},{48,-28.151,0.303}},{{42,-29.977,0.306},{43,-29.671,0.306},{44,-29.366,0.305},{45,-29.061,0.305}}}, {{{49,-27.849,0.302},{50,-27.547,0.302},{51,-27.247,0.3}},{{46,-28.757,0.304},{47,-28.454,0.303},{48,-28.151,0.303}}}, {{{52,-26.947,0.3},{53,-26.648,0.299},{54,-26.350,0.298},{55,-26.053,0.297}},{{49,-27.849,0.302},{50,-27.547,0.302},{51,-27.247,0.3}}}, {{{56,-25.756,0.297},{57,-25.461,0.295},{58,-25.167,0.294}},{{52,-26.947,0.3},{53,-26.648,0.299},{54,-26.350,0.298},{55,-26.053,0.297}}}, {{{59,-24.874,0.293},{60,-24.581,0.293},{61,-24.290,0.291},{62,-24.000,0.29}},{{56,-25.756,0.297},{57,-25.461,0.295},{58,-25.167,0.294}}}, {{{63,-23.711,0.289},{64,-23.423,0.288},{65,-23.136,0.287}},{{59,-24.874,0.293},{60,-24.581,0.293},{61,-24.290,0.291},{62,-24.000,0.29}}}, {{{66,-22.851,0.285},{67,-22.566,0.285},{68,-22.283,0.283},{69,-22.001,0.282}},{{63,-23.711,0.289},{64,-23.423,0.288},{65,-23.136,0.287}}}, {{{70,-21.721,0.28},{71,-21.441,0.28},{72,-21.163,0.278}},{{66,-22.851,0.285},{67,-22.566,0.285},{68,-22.283,0.283},{69,-22.001,0.282}}}, {{{73,-20.886,0.277},{74,-20.611,0.275},{75,-20.336,0.275},{76,-20.063,0.273}},{{70,-21.721,0.28},{71,-21.441,0.28},{72,-21.163,0.278}}}, {{{77,-19.792,0.271},{78,-19.522,0.27},{79,-19.253,0.269}},{{73,-20.886,0.277},{74,-20.611,0.275},{75,-20.336,0.275},{76,-20.063,0.273}}}, {{{80,-18.986,0.267},{81,-18.720,0.266},{82,-18.455,0.265},{83,-18.192,0.263}},{{77,-19.792,0.271},{78,-19.522,0.27},{79,-19.253,0.269}}}, {{{84,-17.930,0.262},{85,-17.670,0.26},{86,-17.411,0.259},{87,-17.154,0.257}},{{80,-18.986,0.267},{81,-18.720,0.266},{82,-18.455,0.265},{83,-18.192,0.263}}}, {{{88,-16.898,0.256},{89,-16.643,0.255},{90,-16.391,0.252},{91,-16.139,0.252}},{{84,-17.930,0.262},{85,-17.670,0.26},{86,-17.411,0.259},{87,-17.154,0.257}}}, {{{92,-15.889,0.25},{93,-15.641,0.248},{94,-15.394,0.247},{95,-15.148,0.246}},{{88,-16.898,0.256},{89,-16.643,0.255},{90,-16.391,0.252},{91,-16.139,0.252}}}, {{{96,-14.904,0.244},{97,-14.662,0.242},{98,-14.421,0.241},{99,-14.182,0.239}},{{92,-15.889,0.25},{93,-15.641,0.248},{94,-15.394,0.247},{95,-15.148,0.246}}}, {{{100,-13.944,0.238},{101,-13.708,0.236},{102,-13.473,0.235},{103,-13.240,0.233},{104,-13.009,0.231}},{{96,-14.904,0.244},{97,-14.662,0.242},{98,-14.421,0.241},{99,-14.182,0.239}}}, {{{105,-12.779,0.23},{106,-12.550,0.229},{107,-12.323,0.227},{108,-12.098,0.225}},{{100,-13.944,0.238},{101,-13.708,0.236},{102,-13.473,0.235},{103,-13.240,0.233},{104,-13.009,0.231}}}, {{{109,-11.874,0.224},{110,-11.652,0.222},{111,-11.431,0.221},{112,-11.212,0.219}},{{105,-12.779,0.23},{106,-12.550,0.229},{107,-12.323,0.227},{108,-12.098,0.225}}}, {{{113,-10.995,0.217},{114,-10.779,0.216},{115,-10.564,0.215},{116,-10.352,0.212},{117,-10.140,0.212}},{{109,-11.874,0.224},{110,-11.652,0.222},{111,-11.431,0.221},{112,-11.212,0.219}}}, {{{118,-9.931,0.209},{119,-9.723,0.208},{120,-9.516,0.207},{121,-9.311,0.205},{122,-9.108,0.203}},{{113,-10.995,0.217},{114,-10.779,0.216},{115,-10.564,0.215},{116,-10.352,0.212},{117,-10.140,0.212}}}, {{{123,-8.906,0.202},{124,-8.706,0.2},{125,-8.507,0.199},{126,-8.310,0.197},{127,-8.115,0.195}},{{118,-9.931,0.209},{119,-9.723,0.208},{120,-9.516,0.207},{121,-9.311,0.205},{122,-9.108,0.203}}}, {{{128,-7.921,0.194},{129,-7.728,0.193},{130,-7.538,0.19},{131,-7.348,0.19},{132,-7.161,0.187}},{{123,-8.906,0.202},{124,-8.706,0.2},{125,-8.507,0.199},{126,-8.310,0.197},{127,-8.115,0.195}}}, {{{133,-6.975,0.186},{134,-6.790,0.185},{135,-6.607,0.183},{136,-6.426,0.181},{137,-6.246,0.18},{138,-6.068,0.178}},{{128,-7.921,0.194},{129,-7.728,0.193},{130,-7.538,0.19},{131,-7.348,0.19},{132,-7.161,0.187}}}, {{{139,-5.891,0.177},{140,-5.716,0.175},{141,-5.543,0.173},{142,-5.371,0.172},{143,-5.200,0.171},{144,-5.031,0.169}},{{133,-6.975,0.186},{134,-6.790,0.185},{135,-6.607,0.183},{136,-6.426,0.181},{137,-6.246,0.18},{138,-6.068,0.178}}}, {{{145,-4.864,0.167},{146,-4.698,0.166},{147,-4.534,0.164},{148,-4.371,0.163},{149,-4.210,0.161},{150,-4.051,0.159}},{{139,-5.891,0.177},{140,-5.716,0.175},{141,-5.543,0.173},{142,-5.371,0.172},{143,-5.200,0.171},{144,-5.031,0.169}}}, {{{151,-3.893,0.158},{152,-3.736,0.157},{153,-3.581,0.155},{154,-3.428,0.153},{155,-3.276,0.152},{156,-3.126,0.15}},{{145,-4.864,0.167},{146,-4.698,0.166},{147,-4.534,0.164},{148,-4.371,0.163},{149,-4.210,0.161},{150,-4.051,0.159}}}, {{{157,-2.978,0.148},{158,-2.831,0.147},{159,-2.685,0.146},{160,-2.541,0.144},{161,-2.399,0.142},{162,-2.258,0.141},{163,-2.119,0.139}},{{151,-3.893,0.158},{152,-3.736,0.157},{153,-3.581,0.155},{154,-3.428,0.153},{155,-3.276,0.152},{156,-3.126,0.15}}}, {{{164,-1.981,0.138},{165,-1.845,0.136},{166,-1.711,0.134},{167,-1.578,0.133},{168,-1.447,0.131},{169,-1.317,0.13},{170,-1.189,0.128},{171,-1.063,0.126}},{{157,-2.978,0.148},{158,-2.831,0.147},{159,-2.685,0.146},{160,-2.541,0.144},{161,-2.399,0.142},{162,-2.258,0.141},{163,-2.119,0.139}}}, {{{172,-.938,0.125},{173,-.815,0.123},{174,-.693,0.122},{175,-.574,0.119},{176,-.456,0.118},{177,-.339,0.117},{178,-.224,0.115},{179,-.111,0.113},{180,0,0.111}},{}}}
 
static const std::vector< std::pair< float, float > > ElbowPitchTableMap = {{-42.426, 0},{-42.165, 0.261},{-41.901, 0.264},{-41.633, 0.268},{-41.363, 0.27},{-41.089, 0.274},{-40.813, 0.276},{-40.534, 0.279},{-40.252, 0.282},{-39.968, 0.284},{-39.682, 0.286},{-39.394, 0.288},{-39.104, 0.29},{-38.811, 0.293},{-38.518, 0.293},{-38.222, 0.296},{-37.926, 0.296},{-37.627, 0.299},{-37.328, 0.299},{-37.027, 0.301},{-36.726, 0.301},{-36.423, 0.303},{-36.119, 0.304},{-35.815, 0.304},{-35.510, 0.305},{-35.204, 0.306},{-34.898, 0.306},{-34.591, 0.307},{-34.284, 0.307},{-33.976, 0.308},{-33.668, 0.308},{-33.360, 0.308},{-33.052, 0.308},{-32.744, 0.308},{-32.436, 0.308},{-32.128, 0.308},{-31.820, 0.308},{-31.512, 0.308},{-31.204, 0.308},{-30.897, 0.307},{-30.590, 0.307},{-30.283, 0.307},{-29.977, 0.306},{-29.671, 0.306},{-29.366, 0.305},{-29.061, 0.305},{-28.757, 0.304},{-28.454, 0.303},{-28.151, 0.303},{-27.849, 0.302},{-27.547, 0.302},{-27.247, 0.3},{-26.947, 0.3},{-26.648, 0.299},{-26.350, 0.298},{-26.053, 0.297},{-25.756, 0.297},{-25.461, 0.295},{-25.167, 0.294},{-24.874, 0.293},{-24.581, 0.293},{-24.290, 0.291},{-24.000, 0.29},{-23.711, 0.289},{-23.423, 0.288},{-23.136, 0.287},{-22.851, 0.285},{-22.566, 0.285},{-22.283, 0.283},{-22.001, 0.282},{-21.721, 0.28},{-21.441, 0.28},{-21.163, 0.278},{-20.886, 0.277},{-20.611, 0.275},{-20.336, 0.275},{-20.063, 0.273},{-19.792, 0.271},{-19.522, 0.27},{-19.253, 0.269},{-18.986, 0.267},{-18.720, 0.266},{-18.455, 0.265},{-18.192, 0.263},{-17.930, 0.262},{-17.670, 0.26},{-17.411, 0.259},{-17.154, 0.257},{-16.898, 0.256},{-16.643, 0.255},{-16.391, 0.252},{-16.139, 0.252},{-15.889, 0.25},{-15.641, 0.248},{-15.394, 0.247},{-15.148, 0.246},{-14.904, 0.244},{-14.662, 0.242},{-14.421, 0.241},{-14.182, 0.239},{-13.944, 0.238},{-13.708, 0.236},{-13.473, 0.235},{-13.240, 0.233},{-13.009, 0.231},{-12.779, 0.23},{-12.550, 0.229},{-12.323, 0.227},{-12.098, 0.225},{-11.874, 0.224},{-11.652, 0.222},{-11.431, 0.221},{-11.212, 0.219},{-10.995, 0.217},{-10.779, 0.216},{-10.564, 0.215},{-10.352, 0.212},{-10.140, 0.212},{-9.931, 0.209},{-9.723, 0.208},{-9.516, 0.207},{-9.311, 0.205},{-9.108, 0.203},{-8.906, 0.202},{-8.706, 0.2},{-8.507, 0.199},{-8.310, 0.197},{-8.115, 0.195},{-7.921, 0.194},{-7.728, 0.193},{-7.538, 0.19},{-7.348, 0.19},{-7.161, 0.187},{-6.975, 0.186},{-6.790, 0.185},{-6.607, 0.183},{-6.426, 0.181},{-6.246, 0.18},{-6.068, 0.178},{-5.891, 0.177},{-5.716, 0.175},{-5.543, 0.173},{-5.371, 0.172},{-5.200, 0.171},{-5.031, 0.169},{-4.864, 0.167},{-4.698, 0.166},{-4.534, 0.164},{-4.371, 0.163},{-4.210, 0.161},{-4.051, 0.159},{-3.893, 0.158},{-3.736, 0.157},{-3.581, 0.155},{-3.428, 0.153},{-3.276, 0.152},{-3.126, 0.15},{-2.978, 0.148},{-2.831, 0.147},{-2.685, 0.146},{-2.541, 0.144},{-2.399, 0.142},{-2.258, 0.141},{-2.119, 0.139},{-1.981, 0.138},{-1.845, 0.136},{-1.711, 0.134},{-1.578, 0.133},{-1.447, 0.131},{-1.317, 0.13},{-1.189, 0.128},{-1.063, 0.126},{-.938, 0.125},{-.815, 0.123},{-.693, 0.122},{-.574, 0.119},{-.456, 0.118},{-.339, 0.117},{-.224, 0.115},{-.111, 0.113},{0, 0.111}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > LegInvTableCandidates = {{{{0,0,0},{1,.655,0.655},{3,2,0.678}},{}}, {{{0,0.0f,0.0f}}, {}}, {{{4,2.688,0.688}},{{5,3.386,0.698}}}, {{{5,3.386,0.698}},{{6,4.092,0.706},{7,4.807,0.715}}}, {{{6,4.092,0.706},{7,4.807,0.715}},{{8,5.529,0.722}}}, {{{8,5.529,0.722}},{{9,6.258,0.729},{10,6.994,0.736}}}, {{{9,6.258,0.729},{10,6.994,0.736}},{{11,7.737,0.743}}}, {{{11,7.737,0.743}},{{12,8.484,0.747}}}, {{{12,8.484,0.747}},{{13,9.237,0.753},{14,9.995,0.758}}}, {{{13,9.237,0.753},{14,9.995,0.758}},{{15,10.756,0.761}}}, {{{15,10.756,0.761}},{{16,11.522,0.766}}}, {{{16,11.522,0.766}},{{17,12.291,0.769}}}, {{{17,12.291,0.769}},{{18,13.063,0.772},{19,13.838,0.775}}}, {{{18,13.063,0.772},{19,13.838,0.775}},{{20,14.615,0.777}}}, {{{20,14.615,0.777}},{{21,15.394,0.779}}}, {{{21,15.394,0.779}},{{22,16.175,0.781},{23,16.958,0.783}}}, {{{22,16.175,0.781},{23,16.958,0.783}},{{24,17.741,0.783}}}, {{{24,17.741,0.783}},{{25,18.526,0.785}}}, {{{25,18.526,0.785}},{{26,19.311,0.785}}}, {{{26,19.311,0.785}},{{27,20.096,0.785},{28,20.881,0.785}}}, {{{27,20.096,0.785},{28,20.881,0.785}},{{29,21.667,0.786}}}, {{{29,21.667,0.786}},{{30,22.451,0.784}}}, {{{30,22.451,0.784}},{{31,23.236,0.785}}}, {{{31,23.236,0.785}},{{32,24.019,0.783},{33,24.801,0.782}}}, {{{32,24.019,0.783},{33,24.801,0.782}},{{34,25.583,0.782}}}, {{{34,25.583,0.782}},{{35,26.362,0.779}}}, {{{35,26.362,0.779}},{{36,27.141,0.779},{37,27.917,0.776}}}, {{{36,27.141,0.779},{37,27.917,0.776}},{{38,28.691,0.774}}}, {{{38,28.691,0.774}},{{39,29.464,0.773}}}, {{{39,29.464,0.773}},{{40,30.234,0.77}}}, {{{40,30.234,0.77}},{{41,31.001,0.767},{42,31.767,0.766}}}, {{{41,31.001,0.767},{42,31.767,0.766}},{{43,32.529,0.762}}}, {{{43,32.529,0.762}},{{44,33.288,0.759}}}, {{{44,33.288,0.759}},{{45,34.045,0.757},{46,34.798,0.753}}}, {{{45,34.045,0.757},{46,34.798,0.753}},{{47,35.548,0.75}}}, {{{47,35.548,0.75}},{{48,36.294,0.746}}}, {{{48,36.294,0.746}},{{49,37.037,0.743},{50,37.776,0.739}}}, {{{49,37.037,0.743},{50,37.776,0.739}},{{51,38.512,0.736}}}, {{{51,38.512,0.736}},{{52,39.243,0.731},{53,39.97,0.727}}}, {{{52,39.243,0.731},{53,39.97,0.727}},{{54,40.694,0.724}}}, {{{54,40.694,0.724}},{{55,41.413,0.719}}}, {{{55,41.413,0.719}},{{56,42.127,0.714},{57,42.838,0.711}}}, {{{56,42.127,0.714},{57,42.838,0.711}},{{58,43.543,0.705}}}, {{{58,43.543,0.705}},{{59,44.244,0.701},{60,44.94,0.696}}}, {{{59,44.244,0.701},{60,44.94,0.696}},{{61,45.632,0.692}}}, {{{61,45.632,0.692}},{{62,46.318,0.686},{63,46.999,0.681}}}, {{{62,46.318,0.686},{63,46.999,0.681}},{{64,47.676,0.677}}}, {{{64,47.676,0.677}},{{65,48.347,0.671}}}, {{{65,48.347,0.671}},{{66,49.012,0.665},{67,49.672,0.66}}}, {{{66,49.012,0.665},{67,49.672,0.66}},{{68,50.327,0.655},{69,50.976,0.649}}}, {{{68,50.327,0.655},{69,50.976,0.649}},{{70,51.62,0.644}}}, {{{70,51.62,0.644}},{{71,52.258,0.638},{72,52.89,0.632}}}, {{{71,52.258,0.638},{72,52.89,0.632}},{{73,53.516,0.626}}}, {{{73,53.516,0.626}},{{74,54.136,0.62},{75,54.75,0.614}}}, {{{74,54.136,0.62},{75,54.75,0.614}},{{76,55.358,0.608},{77,55.96,0.602}}}, {{{76,55.358,0.608},{77,55.96,0.602}},{{78,56.556,0.596}}}, {{{78,56.556,0.596}},{{79,57.145,0.589},{80,57.729,0.584}}}, {{{79,57.145,0.589},{80,57.729,0.584}},{{81,58.305,0.576},{82,58.875,0.57}}}, {{{81,58.305,0.576},{82,58.875,0.57}},{{83,59.439,0.564},{84,59.996,0.557}}}, {{{83,59.439,0.564},{84,59.996,0.557}},{{85,60.546,0.55}}}, {{{85,60.546,0.55}},{{86,61.09,0.544},{87,61.626,0.536}}}, {{{86,61.09,0.544},{87,61.626,0.536}},{{88,62.156,0.53},{89,62.679,0.523}}}, {{{88,62.156,0.53},{89,62.679,0.523}},{{90,63.195,0.516}}}, {{{90,63.195,0.516}},{}}}
 
static const std::vector< std::pair< float, float > > LegTableMap = {{0, 0},{.655, 0.655},{1.322, 0.667},{2, 0.678},{2.688, 0.688},{3.386, 0.698},{4.092, 0.706},{4.807, 0.715},{5.529, 0.722},{6.258, 0.729},{6.994, 0.736},{7.737, 0.743},{8.484, 0.747},{9.237, 0.753},{9.995, 0.758},{10.756, 0.761},{11.522, 0.766},{12.291, 0.769},{13.063, 0.772},{13.838, 0.775},{14.615, 0.777},{15.394, 0.779},{16.175, 0.781},{16.958, 0.783},{17.741, 0.783},{18.526, 0.785},{19.311, 0.785},{20.096, 0.785},{20.881, 0.785},{21.667, 0.786},{22.451, 0.784},{23.236, 0.785},{24.019, 0.783},{24.801, 0.782},{25.583, 0.782},{26.362, 0.779},{27.141, 0.779},{27.917, 0.776},{28.691, 0.774},{29.464, 0.773},{30.234, 0.77},{31.001, 0.767},{31.767, 0.766},{32.529, 0.762},{33.288, 0.759},{34.045, 0.757},{34.798, 0.753},{35.548, 0.75},{36.294, 0.746},{37.037, 0.743},{37.776, 0.739},{38.512, 0.736},{39.243, 0.731},{39.97, 0.727},{40.694, 0.724},{41.413, 0.719},{42.127, 0.714},{42.838, 0.711},{43.543, 0.705},{44.244, 0.701},{44.94, 0.696},{45.632, 0.692},{46.318, 0.686},{46.999, 0.681},{47.676, 0.677},{48.347, 0.671},{49.012, 0.665},{49.672, 0.66},{50.327, 0.655},{50.976, 0.649},{51.62, 0.644},{52.258, 0.638},{52.89, 0.632},{53.516, 0.626},{54.136, 0.62},{54.75, 0.614},{55.358, 0.608},{55.96, 0.602},{56.556, 0.596},{57.145, 0.589},{57.729, 0.584},{58.305, 0.576},{58.875, 0.57},{59.439, 0.564},{59.996, 0.557},{60.546, 0.55},{61.09, 0.544},{61.626, 0.536},{62.156, 0.53},{62.679, 0.523},{63.195, 0.516}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > NeckPitchInvTableCandidates = {{{{-20,-3.124,0}},{}}, {{{-19,-2.985,0.139},{-18,-2.843,0.142},{-17,-2.699,0.144},{-16,-2.553,0.146},{-15,-2.405,0.148},{-14,-2.255,0.15},{-13,-2.103,0.152}},{{-20,-3.124,0}}}, {{{-12,-1.950,0.153},{-11,-1.795,0.155},{-10,-1.638,0.157},{-9,-1.480,0.158},{-8,-1.321,0.159},{-7,-1.160,0.161}},{{-19,-2.985,0.139},{-18,-2.843,0.142},{-17,-2.699,0.144},{-16,-2.553,0.146},{-15,-2.405,0.148},{-14,-2.255,0.15},{-13,-2.103,0.152}}}, {{{-6,-.997,0.163},{-5,-.834,0.163},{-4,-.669,0.165},{-3,-.503,0.166},{-2,-.337,0.166},{-1,-.169,0.168},{0,0,0.169},{1,.169,0.169},{2,.340,0.171},{3,.510,0.17},{4,.682,0.172},{5,.854,0.172}},{{6,1.027,0.173},{7,1.200,0.173},{8,1.373,0.173},{9,1.547,0.174},{10,1.721,0.174},{11,1.895,0.174}}}, {{{6,1.027,0.173},{7,1.200,0.173},{8,1.373,0.173},{9,1.547,0.174},{10,1.721,0.174},{11,1.895,0.174}},{{12,2.070,0.175},{13,2.244,0.174},{14,2.418,0.174},{15,2.593,0.175},{16,2.767,0.174},{17,2.941,0.174}}}, {{{12,2.070,0.175},{13,2.244,0.174},{14,2.418,0.174},{15,2.593,0.175},{16,2.767,0.174},{17,2.941,0.174}},{{18,3.115,0.174},{19,3.289,0.174},{20,3.463,0.174},{21,3.636,0.173},{22,3.809,0.173},{23,3.981,0.172}}}, {{{18,3.115,0.174},{19,3.289,0.174},{20,3.463,0.174},{21,3.636,0.173},{22,3.809,0.173},{23,3.981,0.172}},{{24,4.153,0.172},{25,4.325,0.172},{26,4.496,0.171},{27,4.666,0.17},{28,4.836,0.17}}}, {{{24,4.153,0.172},{25,4.325,0.172},{26,4.496,0.171},{27,4.666,0.17},{28,4.836,0.17}},{{29,5.005,0.169},{30,5.173,0.168},{31,5.340,0.167},{32,5.507,0.167},{33,5.673,0.166},{34,5.839,0.166}}}, {{{29,5.005,0.169},{30,5.173,0.168},{31,5.340,0.167},{32,5.507,0.167},{33,5.673,0.166},{34,5.839,0.166}},{{35,6.003,0.164},{36,6.166,0.163},{37,6.329,0.163},{38,6.490,0.161},{39,6.651,0.161},{40,6.810,0.159},{41,6.969,0.159}}}, {{{35,6.003,0.164},{36,6.166,0.163},{37,6.329,0.163},{38,6.490,0.161},{39,6.651,0.161},{40,6.810,0.159},{41,6.969,0.159}},{{42,7.126,0.157},{43,7.283,0.157},{44,7.438,0.155},{45,7.592,0.154},{46,7.745,0.153},{47,7.897,0.152}}}, {{{42,7.126,0.157},{43,7.283,0.157},{44,7.438,0.155},{45,7.592,0.154},{46,7.745,0.153},{47,7.897,0.152}},{{48,8.047,0.15},{49,8.197,0.15},{50,8.345,0.148},{51,8.492,0.147},{52,8.637,0.145},{53,8.782,0.145},{54,8.925,0.143}}}, {{{48,8.047,0.15},{49,8.197,0.15},{50,8.345,0.148},{51,8.492,0.147},{52,8.637,0.145},{53,8.782,0.145},{54,8.925,0.143}},{{55,9.066,0.141},{56,9.206,0.14},{57,9.345,0.139},{58,9.483,0.138},{59,9.619,0.136},{60,9.754,0.135}}}, {{{55,9.066,0.141},{56,9.206,0.14},{57,9.345,0.139},{58,9.483,0.138},{59,9.619,0.136},{60,9.754,0.135}},{}}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > NeckRollInvTableCandidates = {{{{-20,-7.38,0},{-19,-7.038,0.342}},{}}, {{{-18,-6.692,0.346},{-17,-6.342,0.35}},{{-20,-7.38,0},{-19,-7.038,0.342}}}, {{{-16,-5.989,0.353},{-15,-5.631,0.358},{-14,-5.271,0.36}},{{-18,-6.692,0.346},{-17,-6.342,0.35}}}, {{{-13,-4.908,0.363},{-12,-4.542,0.366},{-11,-4.173,0.369}},{{-16,-5.989,0.353},{-15,-5.631,0.358},{-14,-5.271,0.36}}}, {{{-10,-3.802,0.371},{-9,-3.429,0.373},{-8,-3.053,0.376}},{{-13,-4.908,0.363},{-12,-4.542,0.366},{-11,-4.173,0.369}}}, {{{-7,-2.676,0.377},{-6,-2.298,0.378}},{{-10,-3.802,0.371},{-9,-3.429,0.373},{-8,-3.053,0.376}}}, {{{-5,-1.917,0.381},{-4,-1.536,0.381},{-3,-1.153,0.383}},{{-7,-2.676,0.377},{-6,-2.298,0.378}}}, {{{-2,-.77,0.383},{-1,-.385,0.385},{0,0,0.385},{1,.385,0.385},{2,.772,0.387}},{{3,1.158,0.386},{4,1.545,0.387},{5,1.931,0.386}}}, {{{3,1.158,0.386},{4,1.545,0.387},{5,1.931,0.386}},{{6,2.318,0.387},{7,2.704,0.386}}}, {{{6,2.318,0.387},{7,2.704,0.386}},{{8,3.09,0.386},{9,3.476,0.386},{10,3.861,0.385}}}, {{{8,3.09,0.386},{9,3.476,0.386},{10,3.861,0.385}},{{11,4.246,0.385},{12,4.629,0.383}}}, {{{11,4.246,0.385},{12,4.629,0.383}},{{13,5.012,0.383},{14,5.395,0.383},{15,5.776,0.381}}}, {{{13,5.012,0.383},{14,5.395,0.383},{15,5.776,0.381}},{{16,6.156,0.38},{17,6.535,0.379},{18,6.913,0.378}}}, {{{16,6.156,0.38},{17,6.535,0.379},{18,6.913,0.378}},{{19,7.289,0.376},{20,7.664,0.375}}}, {{{19,7.289,0.376},{20,7.664,0.375}},{}}}
 
static const std::vector< std::pair< float, float > > NeckRollPitchTableMap1 = {{-7.38,0}, {-7.038,0.342}, {-6.692,0.346}, {-6.342,0.35}, {-5.989,0.353}, {-5.631,0.358}, {-5.271,0.36}, {-4.908,0.363}, {-4.542,0.366}, {-4.173,0.369}, {-3.802,0.371}, {-3.429,0.373}, {-3.053,0.376}, {-2.676,0.377}, {-2.298,0.378}, {-1.917,0.381}, {-1.536,0.381}, {-1.153,0.383}, {-.77,0.383}, {-.385,0.385}, {0,0.385}, {.385,0.385}, {.772,0.387}, {1.158,0.386}, {1.545,0.387}, {1.931,0.386}, {2.318,0.387}, {2.704,0.386}, {3.09,0.386}, {3.476,0.386}, {3.861,0.385}, {4.246,0.385}, {4.629,0.383}, {5.012,0.383}, {5.395,0.383}, {5.776,0.381}, {6.156,0.38}, {6.535,0.379}, {6.913,0.378}, {7.289,0.376}, {7.664,0.375}}
 
static const std::vector< std::pair< float, float > > NeckRollPitchTableMap2 = {{-3.124,0}, {-2.985,0.139}, {-2.843,0.142}, {-2.699,0.144}, {-2.553,0.146}, {-2.405,0.148}, {-2.255,0.15}, {-2.103,0.152}, {-1.950,0.153}, {-1.795,0.155}, {-1.638,0.157}, {-1.480,0.158}, {-1.321,0.159}, {-1.160,0.161}, {-.997,0.163}, {-.834,0.163}, {-.669,0.165}, {-.503,0.166}, {-.337,0.166}, {-.169,0.168}, {0,0.169}, {.169,0.169}, {.340,0.171}, {.510,0.17}, {.682,0.172}, {.854,0.172}, {1.027,0.173}, {1.200,0.173}, {1.373,0.173}, {1.547,0.174}, {1.721,0.174}, {1.895,0.174}, {2.070,0.175}, {2.244,0.174}, {2.418,0.174}, {2.593,0.175}, {2.767,0.174}, {2.941,0.174}, {3.115,0.174}, {3.289,0.174}, {3.463,0.174}, {3.636,0.173}, {3.809,0.173}, {3.981,0.172}, {4.153,0.172}, {4.325,0.172}, {4.496,0.171}, {4.666,0.17}, {4.836,0.17}, {5.005,0.169}, {5.173,0.168}, {5.340,0.167}, {5.507,0.167}, {5.673,0.166}, {5.839,0.166}, {6.003,0.164}, {6.166,0.163}, {6.329,0.163}, {6.490,0.161}, {6.651,0.161}, {6.810,0.159}, {6.969,0.159}, {7.126,0.157}, {7.283,0.157}, {7.438,0.155}, {7.592,0.154}, {7.745,0.153}, {7.897,0.152}, {8.047,0.15}, {8.197,0.15}, {8.345,0.148}, {8.492,0.147}, {8.637,0.145}, {8.782,0.145}, {8.925,0.143}, {9.066,0.141}, {9.206,0.14}, {9.345,0.139}, {9.483,0.138}, {9.619,0.136}, {9.754,0.135}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > ShoulderPitchInvTableCandidates = {{{{88,-45.146,-0.572},{89,-45.869,-0.723}},{}}, {{{86,-44.064,-0.47},{87,-44.574,-0.51}},{{88,-45.146,-0.572},{89,-45.869,-0.723}}}, {{{84,-43.150,-0.423},{85,-43.594,-0.444}},{{86,-44.064,-0.47},{87,-44.574,-0.51}}}, {{{82,-42.321,-0.393},{83,-42.727,-0.406}},{{84,-43.150,-0.423},{85,-43.594,-0.444}}}, {{{79,-41.174,-0.365},{80,-41.546,-0.372},{81,-41.928,-0.382}},{{82,-42.321,-0.393},{83,-42.727,-0.406}}}, {{{76,-40.100,-0.347},{77,-40.452,-0.352},{78,-40.809,-0.357}},{{79,-41.174,-0.365},{80,-41.546,-0.372},{81,-41.928,-0.382}}}, {{{73,-39.071,-0.336},{74,-39.410,-0.339},{75,-39.753,-0.343}},{{76,-40.100,-0.347},{77,-40.452,-0.352},{78,-40.809,-0.357}}}, {{{70,-38.070,-0.33},{71,-38.402,-0.332},{72,-38.735,-0.333}},{{73,-39.071,-0.336},{74,-39.410,-0.339},{75,-39.753,-0.343}}}, {{{67,-37.083,-0.327},{68,-37.411,-0.328},{69,-37.740,-0.329}},{{70,-38.070,-0.33},{71,-38.402,-0.332},{72,-38.735,-0.333}}}, {{{64,-36.100,-0.329},{65,-36.428,-0.328},{66,-36.756,-0.328}},{{67,-37.083,-0.327},{68,-37.411,-0.328},{69,-37.740,-0.329}}}, {{{61,-35.111,-0.333},{62,-35.442,-0.331},{63,-35.771,-0.329}},{{64,-36.100,-0.329},{65,-36.428,-0.328},{66,-36.756,-0.328}}}, {{{58,-34.107,-0.339},{59,-34.444,-0.337},{60,-34.778,-0.334}},{{61,-35.111,-0.333},{62,-35.442,-0.331},{63,-35.771,-0.329}}}, {{{55,-33.082,-0.349},{56,-33.427,-0.345},{57,-33.768,-0.341}},{{58,-34.107,-0.339},{59,-34.444,-0.337},{60,-34.778,-0.334}}}, {{{52,-32.025,-0.36},{53,-32.381,-0.356},{54,-32.733,-0.352}},{{55,-33.082,-0.349},{56,-33.427,-0.345},{57,-33.768,-0.341}}}, {{{50,-31.300,-0.37},{51,-31.665,-0.365}},{{52,-32.025,-0.36},{53,-32.381,-0.356},{54,-32.733,-0.352}}}, {{{47,-30.174,-0.387},{48,-30.555,-0.381},{49,-30.930,-0.375}},{{50,-31.300,-0.37},{51,-31.665,-0.365}}}, {{{45,-29.394,-0.4},{46,-29.787,-0.393}},{{47,-30.174,-0.387},{48,-30.555,-0.381},{49,-30.930,-0.375}}}, {{{42,-28.172,-0.422},{43,-28.587,-0.415},{44,-28.994,-0.407}},{{45,-29.394,-0.4},{46,-29.787,-0.393}}}, {{{40,-27.319,-0.439},{41,-27.750,-0.431}},{{42,-28.172,-0.422},{43,-28.587,-0.415},{44,-28.994,-0.407}}}, {{{38,-26.431,-0.458},{39,-26.880,-0.449}},{{40,-27.319,-0.439},{41,-27.750,-0.431}}}, {{{35,-25.026,-0.49},{36,-25.504,-0.478},{37,-25.973,-0.469}},{{38,-26.431,-0.458},{39,-26.880,-0.449}}}, {{{33,-24.035,-0.513},{34,-24.536,-0.501}},{{35,-25.026,-0.49},{36,-25.504,-0.478},{37,-25.973,-0.469}}}, {{{32,-23.522,-0.526}},{{33,-24.035,-0.513},{34,-24.536,-0.501}}}, {{{30,-22.458,-0.552},{31,-22.996,-0.538}},{{32,-23.522,-0.526}}}, {{{28,-21.340,-0.58},{29,-21.906,-0.566}},{{30,-22.458,-0.552},{31,-22.996,-0.538}}}, {{{26,-20.166,-0.61},{27,-20.760,-0.594}},{{28,-21.340,-0.58},{29,-21.906,-0.566}}}, {{{25,-19.556,-0.625}},{{26,-20.166,-0.61},{27,-20.760,-0.594}}}, {{{23,-18.289,-0.657},{24,-18.931,-0.642}},{{25,-19.556,-0.625}}}, {{{22,-17.632,-0.673}},{{23,-18.289,-0.657},{24,-18.931,-0.642}}}, {{{20,-16.268,-0.707},{21,-16.959,-0.691}},{{22,-17.632,-0.673}}}, {{{19,-15.561,-0.723}},{{20,-16.268,-0.707},{21,-16.959,-0.691}}}, {{{17,-14.098,-0.757},{18,-14.838,-0.74}},{{19,-15.561,-0.723}}}, {{{16,-13.341,-0.771}},{{17,-14.098,-0.757},{18,-14.838,-0.74}}}, {{{15,-12.570,-0.787}},{{16,-13.341,-0.771}}}, {{{14,-11.783,-0.802}},{{15,-12.570,-0.787}}}, {{{12,-10.166,-0.827},{13,-10.981,-0.815}},{{14,-11.783,-0.802}}}, {{{11,-9.339,-0.837}},{{12,-10.166,-0.827},{13,-10.981,-0.815}}}, {{{10,-8.502,-0.847}},{{11,-9.339,-0.837}}}, {{{9,-7.655,-0.854}},{{10,-8.502,-0.847}}}, {{{8,-6.801,-0.86}},{{9,-7.655,-0.854}}}, {{{6,-5.079,-0.862},{7,-5.941,-0.862}},{{8,-6.801,-0.86}}}, {{{5,-4.217,-0.86}},{{6,-5.079,-0.862},{7,-5.941,-0.862}}}, {{{4,-3.357,-0.855}},{{5,-4.217,-0.86}}}, {{{3,-2.502,-0.846}},{{4,-3.357,-0.855}}}, {{{2,-1.656,-0.835}},{{3,-2.502,-0.846}}}, {{{-1,.804,-0.784},{0,0,-0.804},{1,-.821,-0.821}},{{-2,1.588,-0.717}}}, {{{-2,1.588,-0.717}},{{-3,2.305,-0.781}}}, {{{-3,2.305,-0.781}},{{-5,3.795,-0.68},{-4,3.086,-0.709}}}, {{{-5,3.795,-0.68},{-4,3.086,-0.709}},{{-6,4.475,-0.65}}}, {{{-6,4.475,-0.65}},{{-8,5.742,-0.586},{-7,5.125,-0.617}}}, {{{-8,5.742,-0.586},{-7,5.125,-0.617}},{{-10,6.879,-0.519},{-9,6.328,-0.551}}}, {{{-10,6.879,-0.519},{-9,6.328,-0.551}},{{-12,7.882,-0.452},{-11,7.398,-0.484}}}, {{{-12,7.882,-0.452},{-11,7.398,-0.484}},{{-14,8.754,-0.387},{-13,8.334,-0.42}}}, {{{-14,8.754,-0.387},{-13,8.334,-0.42}},{{-17,9.824,-0.298},{-16,9.497,-0.327},{-15,9.141,-0.356}}}, {{{-17,9.824,-0.298},{-16,9.497,-0.327},{-15,9.141,-0.356}},{{-20,10.635,0},{-19,10.392,-0.243},{-18,10.122,-0.27}}}, {{{-20,10.635,0},{-19,10.392,-0.243},{-18,10.122,-0.27}},{}}}
 
static const std::vector< std::pair< float, float > > ShoulderPitchTableMap = {{10.635, 0},{10.392, -0.243},{10.122, -0.27},{9.824, -0.298},{9.497, -0.327},{9.141, -0.356},{8.754, -0.387},{8.334, -0.42},{7.882, -0.452},{7.398, -0.484},{6.879, -0.519},{6.328, -0.551},{5.742, -0.586},{5.125, -0.617},{4.475, -0.65},{3.795, -0.68},{3.086, -0.709},{2.305, -0.781},{1.588, -0.717},{.804, -0.784},{0, -0.804},{-.821, -0.821},{-1.656, -0.835},{-2.502, -0.846},{-3.357, -0.855},{-4.217, -0.86},{-5.079, -0.862},{-5.941, -0.862},{-6.801, -0.86},{-7.655, -0.854},{-8.502, -0.847},{-9.339, -0.837},{-10.166, -0.827},{-10.981, -0.815},{-11.783, -0.802},{-12.570, -0.787},{-13.341, -0.771},{-14.098, -0.757},{-14.838, -0.74},{-15.561, -0.723},{-16.268, -0.707},{-16.959, -0.691},{-17.632, -0.673},{-18.289, -0.657},{-18.931, -0.642},{-19.556, -0.625},{-20.166, -0.61},{-20.760, -0.594},{-21.340, -0.58},{-21.906, -0.566},{-22.458, -0.552},{-22.996, -0.538},{-23.522, -0.526},{-24.035, -0.513},{-24.536, -0.501},{-25.026, -0.49},{-25.504, -0.478},{-25.973, -0.469},{-26.431, -0.458},{-26.880, -0.449},{-27.319, -0.439},{-27.750, -0.431},{-28.172, -0.422},{-28.587, -0.415},{-28.994, -0.407},{-29.394, -0.4},{-29.787, -0.393},{-30.174, -0.387},{-30.555, -0.381},{-30.930, -0.375},{-31.300, -0.37},{-31.665, -0.365},{-32.025, -0.36},{-32.381, -0.356},{-32.733, -0.352},{-33.082, -0.349},{-33.427, -0.345},{-33.768, -0.341},{-34.107, -0.339},{-34.444, -0.337},{-34.778, -0.334},{-35.111, -0.333},{-35.442, -0.331},{-35.771, -0.329},{-36.100, -0.329},{-36.428, -0.328},{-36.756, -0.328},{-37.083, -0.327},{-37.411, -0.328},{-37.740, -0.329},{-38.070, -0.33},{-38.402, -0.332},{-38.735, -0.333},{-39.071, -0.336},{-39.410, -0.339},{-39.753, -0.343},{-40.100, -0.347},{-40.452, -0.352},{-40.809, -0.357},{-41.174, -0.365},{-41.546, -0.372},{-41.928, -0.382},{-42.321, -0.393},{-42.727, -0.406},{-43.150, -0.423},{-43.594, -0.444},{-44.064, -0.47},{-44.574, -0.51},{-45.146, -0.572},{-45.869, -0.723}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > ShoulderRollInvTableCandidates = {{{{0,0,0},{1,.465,0.465},{2,.94,0.475}},{{3,1.422,0.482},{4,1.913,0.491}}}, {{{3,1.422,0.482},{4,1.913,0.491}},{{5,2.411,0.498},{6,2.917,0.506}}}, {{{5,2.411,0.498},{6,2.917,0.506}},{{7,3.429,0.512},{8,3.949,0.52}}}, {{{7,3.429,0.512},{8,3.949,0.52}},{{9,4.475,0.526}}}, {{{9,4.475,0.526}},{{10,5.007,0.532},{11,5.546,0.539}}}, {{{10,5.007,0.532},{11,5.546,0.539}},{{12,6.09,0.544},{13,6.64,0.55}}}, {{{12,6.09,0.544},{13,6.64,0.55}},{{14,7.194,0.554},{15,7.754,0.56}}}, {{{14,7.194,0.554},{15,7.754,0.56}},{{16,8.319,0.565},{17,8.888,0.569}}}, {{{16,8.319,0.565},{17,8.888,0.569}},{{18,9.462,0.574}}}, {{{18,9.462,0.574}},{{19,10.039,0.577},{20,10.62,0.581}}}, {{{19,10.039,0.577},{20,10.62,0.581}},{{21,11.205,0.585},{22,11.793,0.588}}}, {{{21,11.205,0.585},{22,11.793,0.588}},{{23,12.384,0.591},{24,12.978,0.594}}}, {{{23,12.384,0.591},{24,12.978,0.594}},{{25,13.574,0.596}}}, {{{25,13.574,0.596}},{{26,14.173,0.599},{27,14.774,0.601}}}, {{{26,14.173,0.599},{27,14.774,0.601}},{{28,15.377,0.603},{29,15.981,0.604}}}, {{{28,15.377,0.603},{29,15.981,0.604}},{{30,16.587,0.606}}}, {{{30,16.587,0.606}},{{31,17.195,0.608},{32,17.803,0.608}}}, {{{31,17.195,0.608},{32,17.803,0.608}},{{33,18.412,0.609}}}, {{{33,18.412,0.609}},{{34,19.022,0.61},{35,19.633,0.611}}}, {{{34,19.022,0.61},{35,19.633,0.611}},{{36,20.244,0.611},{37,20.855,0.611}}}, {{{36,20.244,0.611},{37,20.855,0.611}},{{38,21.465,0.61}}}, {{{38,21.465,0.61}},{{39,22.076,0.611},{40,22.686,0.61}}}, {{{39,22.076,0.611},{40,22.686,0.61}},{{41,23.295,0.609},{42,23.904,0.609}}}, {{{41,23.295,0.609},{42,23.904,0.609}},{{43,24.512,0.608}}}, {{{43,24.512,0.608}},{{44,25.118,0.606},{45,25.723,0.605}}}, {{{44,25.118,0.606},{45,25.723,0.605}},{{46,26.327,0.604},{47,26.929,0.602}}}, {{{46,26.327,0.604},{47,26.929,0.602}},{{48,27.53,0.601}}}, {{{48,27.53,0.601}},{{49,28.128,0.598},{50,28.724,0.596}}}, {{{49,28.128,0.598},{50,28.724,0.596}},{{51,29.319,0.595},{52,29.91,0.591}}}, {{{51,29.319,0.595},{52,29.91,0.591}},{{53,30.499,0.589}}}, {{{53,30.499,0.589}},{{54,31.086,0.587},{55,31.67,0.584}}}, {{{54,31.086,0.587},{55,31.67,0.584}},{{56,32.251,0.581},{57,32.828,0.577}}}, {{{56,32.251,0.581},{57,32.828,0.577}},{{58,33.403,0.575},{59,33.974,0.571}}}, {{{58,33.403,0.575},{59,33.974,0.571}},{{60,34.542,0.568}}}, {{{60,34.542,0.568}},{{61,35.106,0.564},{62,35.666,0.56}}}, {{{61,35.106,0.564},{62,35.666,0.56}},{{63,36.223,0.557},{64,36.775,0.552}}}, {{{63,36.223,0.557},{64,36.775,0.552}},{{65,37.324,0.549},{66,37.87,0.546}}}, {{{65,37.324,0.549},{66,37.87,0.546}},{{67,38.408,0.538},{68,38.944,0.536}}}, {{{67,38.408,0.538},{68,38.944,0.536}},{{69,39.475,0.531}}}, {{{69,39.475,0.531}},{{70,40.001,0.526},{71,40.523,0.522}}}, {{{70,40.001,0.526},{71,40.523,0.522}},{{72,41.04,0.517},{73,41.552,0.512}}}, {{{72,41.04,0.517},{73,41.552,0.512}},{{74,42.059,0.507},{75,42.561,0.502}}}, {{{74,42.059,0.507},{75,42.561,0.502}},{{76,43.058,0.497},{77,43.549,0.491}}}, {{{76,43.058,0.497},{77,43.549,0.491}},{{78,44.035,0.486},{79,44.516,0.481},{80,44.991,0.475}}}, {{{78,44.035,0.486},{79,44.516,0.481},{80,44.991,0.475}},{{81,45.46,0.469},{82,45.924,0.464}}}, {{{81,45.46,0.469},{82,45.924,0.464}},{{83,46.381,0.457},{84,46.833,0.452}}}, {{{83,46.381,0.457},{84,46.833,0.452}},{{85,47.279,0.446},{86,47.719,0.44}}}, {{{85,47.279,0.446},{86,47.719,0.44}},{{87,48.153,0.434},{88,48.58,0.427}}}, {{{87,48.153,0.434},{88,48.58,0.427}},{{89,49.001,0.421},{90,49.416,0.415}}}, {{{89,49.001,0.421},{90,49.416,0.415}},{}}}
 
static const std::vector< std::pair< float, float > > ShoulderRollTableMap = {{0, 0},{.465, 0.465},{.94, 0.475},{1.422, 0.482},{1.913, 0.491},{2.411, 0.498},{2.917, 0.506},{3.429, 0.512},{3.949, 0.52},{4.475, 0.526},{5.007, 0.532},{5.546, 0.539},{6.09, 0.544},{6.64, 0.55},{7.194, 0.554},{7.754, 0.56},{8.319, 0.565},{8.888, 0.569},{9.462, 0.574},{10.039, 0.577},{10.62, 0.581},{11.205, 0.585},{11.793, 0.588},{12.384, 0.591},{12.978, 0.594},{13.574, 0.596},{14.173, 0.599},{14.774, 0.601},{15.377, 0.603},{15.981, 0.604},{16.587, 0.606},{17.195, 0.608},{17.803, 0.608},{18.412, 0.609},{19.022, 0.61},{19.633, 0.611},{20.244, 0.611},{20.855, 0.611},{21.465, 0.61},{22.076, 0.611},{22.686, 0.61},{23.295, 0.609},{23.904, 0.609},{24.512, 0.608},{25.118, 0.606},{25.723, 0.605},{26.327, 0.604},{26.929, 0.602},{27.53, 0.601},{28.128, 0.598},{28.724, 0.596},{29.319, 0.595},{29.91, 0.591},{30.499, 0.589},{31.086, 0.587},{31.67, 0.584},{32.251, 0.581},{32.828, 0.577},{33.403, 0.575},{33.974, 0.571},{34.542, 0.568},{35.106, 0.564},{35.666, 0.56},{36.223, 0.557},{36.775, 0.552},{37.324, 0.549},{37.87, 0.546},{38.408, 0.538},{38.944, 0.536},{39.475, 0.531},{40.001, 0.526},{40.523, 0.522},{41.04, 0.517},{41.552, 0.512},{42.059, 0.507},{42.561, 0.502},{43.058, 0.497},{43.549, 0.491},{44.035, 0.486},{44.516, 0.481},{44.991, 0.475},{45.46, 0.469},{45.924, 0.464},{46.381, 0.457},{46.833, 0.452},{47.279, 0.446},{47.719, 0.44},{48.153, 0.434},{48.58, 0.427},{49.001, 0.421},{49.416, 0.415}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > WaistPitchInvTableCandidates = {{{{-9,-5.23,0}},{}}, {{{-8,-4.721,0.509},{-7,-4.191,0.53}},{{-9,-5.23,0}}}, {{{-6,-3.642,0.549},{-5,-3.074,0.568}},{{-8,-4.721,0.509},{-7,-4.191,0.53}}}, {{{-4,-2.489,0.585}},{{-6,-3.642,0.549},{-5,-3.074,0.568}}}, {{{-3,-1.889,0.6},{-2,-1.273,0.616}},{{-4,-2.489,0.585}}}, {{{-1,-.643,0.63},{0,0,0.643},{1,.656,0.656}},{{2,1.323,0.667}}}, {{{2,1.323,0.667}},{{3,2.00,0.677},{4,2.688,0.688}}}, {{{3,2.00,0.677},{4,2.688,0.688}},{{5,3.386,0.698}}}, {{{5,3.386,0.698}},{{6,4.092,0.706},{7,4.806,0.714}}}, {{{6,4.092,0.706},{7,4.806,0.714}},{{8,5.528,0.722}}}, {{{8,5.528,0.722}},{{9,6.257,0.729},{10,6.993,0.736}}}, {{{9,6.257,0.729},{10,6.993,0.736}},{{11,7.735,0.742}}}, {{{11,7.735,0.742}},{{12,8.483,0.748}}}, {{{12,8.483,0.748}},{{13,9.236,0.753},{14,9.994,0.758}}}, {{{13,9.236,0.753},{14,9.994,0.758}},{{15,10.756,0.762}}}, {{{15,10.756,0.762}},{{16,11.522,0.766}}}, {{{16,11.522,0.766}},{{17,12.293,0.771}}}, {{{17,12.293,0.771}},{{18,13.067,0.774},{19,13.843,0.776}}}, {{{18,13.067,0.774},{19,13.843,0.776}},{{20,14.623,0.78}}}, {{{20,14.623,0.78}},{{21,15.406,0.783}}}, {{{21,15.406,0.783}},{{22,16.19,0.784},{23,16.977,0.787}}}, {{{22,16.19,0.784},{23,16.977,0.787}},{{24,17.766,0.789}}}, {{{24,17.766,0.789}},{{25,18.556,0.79}}}, {{{25,18.556,0.79}},{{26,19.347,0.791}}}, {{{26,19.347,0.791}},{{27,20.14,0.793},{28,20.933,0.793}}}, {{{27,20.14,0.793},{28,20.933,0.793}},{{29,21.727,0.794}}}, {{{29,21.727,0.794}},{{30,22.522,0.795}}}, {{{30,22.522,0.795}},{{31,23.317,0.795}}}, {{{31,23.317,0.795}},{{32,24.113,0.796},{33,24.908,0.795}}}, {{{32,24.113,0.796},{33,24.908,0.795}},{{34,25.703,0.795}}}, {{{34,25.703,0.795}},{{35,26.497,0.794}}}, {{{35,26.497,0.794}},{{36,27.292,0.795}}}, {{{36,27.292,0.795}},{{37,28.085,0.793},{38,28.877,0.792}}}, {{{37,28.085,0.793},{38,28.877,0.792}},{{39,29.668,0.791}}}, {{{39,29.668,0.791}},{}}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > WaistRollInvTableCandidates = {{{{-8,-5.605,0}},{}}, {{{-7,-4.959,0.646},{-6,-4.293,0.666}},{{-8,-5.605,0}}}, {{{-5,-3.611,0.682}},{{-7,-4.959,0.646},{-6,-4.293,0.666}}}, {{{-4,-2.913,0.698},{-3,-2.202,0.711}},{{-5,-3.611,0.682}}}, {{{-2,-1.479,0.723}},{{-4,-2.913,0.698},{-3,-2.202,0.711}}}, {{{-1,-.744,0.735},{0,0,0.744},{1,.754,0.754}},{{2,1.517,0.763}}}, {{{2,1.517,0.763}},{{3,2.288,0.771}}}, {{{3,2.288,0.771}},{{4,3.067,0.779},{5,3.853,0.786}}}, {{{4,3.067,0.779},{5,3.853,0.786}},{{6,4.646,0.793}}}, {{{6,4.646,0.793}},{{7,5.446,0.8}}}, {{{7,5.446,0.8}},{{8,6.253,0.807}}}, {{{8,6.253,0.807}},{}}}
 
static const std::vector< std::pair< float, float > > WaistRollPitchTableMap1 = {{-5.605,0}, {-4.959,0.646}, {-4.293,0.666}, {-3.611,0.682}, {-2.913,0.698}, {-2.202,0.711}, {-1.479,0.723}, {-.744,0.735}, {0,0.744}, {.754,0.754}, {1.517,0.763}, {2.288,0.771}, {3.067,0.779}, {3.853,0.786}, {4.646,0.793}, {5.446,0.8}, {6.253,0.807}}
 
static const std::vector< std::pair< float, float > > WaistRollPitchTableMap2 = {{-5.23,0}, {-4.721,0.509}, {-4.191,0.53}, {-3.642,0.549}, {-3.074,0.568}, {-2.489,0.585}, {-1.889,0.6}, {-1.273,0.616}, {-.643,0.63}, {0,0.643}, {.656,0.656}, {1.323,0.667}, {2.00,0.677}, {2.688,0.688}, {3.386,0.698}, {4.092,0.706}, {4.806,0.714}, {5.528,0.722}, {6.257,0.729}, {6.993,0.736}, {7.735,0.742}, {8.483,0.748}, {9.236,0.753}, {9.994,0.758}, {10.756,0.762}, {11.522,0.766}, {12.293,0.771}, {13.067,0.774}, {13.843,0.776}, {14.623,0.78}, {15.406,0.783}, {16.19,0.784}, {16.977,0.787}, {17.766,0.789}, {18.556,0.79}, {19.347,0.791}, {20.14,0.793}, {20.933,0.793}, {21.727,0.794}, {22.522,0.795}, {23.317,0.795}, {24.113,0.796}, {24.908,0.795}, {25.703,0.795}, {26.497,0.794}, {27.292,0.795}, {28.085,0.793}, {28.877,0.792}, {29.668,0.791}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > WristPitchInvTableCandidates = {{{{-10,-1.723,0},{-9,-1.580,0.143},{-8,-1.430,0.15},{-7,-1.273,0.157},{-6,-1.110,0.163}},{}}, {{{-5,-.940,0.17},{-4,-.763,0.177},{-3,-.581,0.182},{-2,-.393,0.188},{-1,-.199,0.194},{0,0,0.199},{1,.391,0.391},{2,.779,0.388}},{{3,1.163,0.384},{4,1.545,0.382},{5,1.923,0.378}}}, {{{3,1.163,0.384},{4,1.545,0.382},{5,1.923,0.378}},{{6,2.299,0.376},{7,2.673,0.374}}}, {{{6,2.299,0.376},{7,2.673,0.374}},{{8,3.045,0.372},{9,3.415,0.37},{10,3.783,0.368}}}, {{{8,3.045,0.372},{9,3.415,0.37},{10,3.783,0.368}},{}}}
 
static const std::vector< std::pair< std::vector< S2AData >, std::vector< S2AData > > > WristRollInvTableCandidates = {{{{89,-14.030,-0.116},{90,-14.144,-0.114}},{}}, {{{81,-13.025,-0.137},{82,-13.159,-0.134},{83,-13.291,-0.132},{84,-13.421,-0.13},{85,-13.548,-0.127},{86,-13.673,-0.125},{87,-13.795,-0.122},{88,-13.914,-0.119}},{{89,-14.030,-0.116},{90,-14.144,-0.114}}}, {{{74,-12.024,-0.151},{75,-12.173,-0.149},{76,-12.320,-0.147},{77,-12.465,-0.145},{78,-12.608,-0.143},{79,-12.749,-0.141},{80,-12.888,-0.139}},{{81,-13.025,-0.137},{82,-13.159,-0.134},{83,-13.291,-0.132},{84,-13.421,-0.13},{85,-13.548,-0.127},{86,-13.673,-0.125},{87,-13.795,-0.122},{88,-13.914,-0.119}}}, {{{68,-11.093,-0.16},{69,-11.252,-0.159},{70,-11.410,-0.158},{71,-11.566,-0.156},{72,-11.720,-0.154},{73,-11.873,-0.153}},{{74,-12.024,-0.151},{75,-12.173,-0.149},{76,-12.320,-0.147},{77,-12.465,-0.145},{78,-12.608,-0.143},{79,-12.749,-0.141},{80,-12.888,-0.139}}}, {{{62,-10.112,-0.167},{63,-10.279,-0.167},{64,-10.444,-0.165},{65,-10.608,-0.164},{66,-10.771,-0.163},{67,-10.933,-0.162}},{{68,-11.093,-0.16},{69,-11.252,-0.159},{70,-11.410,-0.158},{71,-11.566,-0.156},{72,-11.720,-0.154},{73,-11.873,-0.153}}}, {{{56,-9.096,-0.172},{57,-9.267,-0.171},{58,-9.438,-0.171},{59,-9.607,-0.169},{60,-9.777,-0.17},{61,-9.945,-0.168}},{{62,-10.112,-0.167},{63,-10.279,-0.167},{64,-10.444,-0.165},{65,-10.608,-0.164},{66,-10.771,-0.163},{67,-10.933,-0.162}}}, {{{50,-8.058,-0.174},{51,-8.232,-0.174},{52,-8.405,-0.173},{53,-8.579,-0.174},{54,-8.751,-0.172},{55,-8.924,-0.173}},{{56,-9.096,-0.172},{57,-9.267,-0.171},{58,-9.438,-0.171},{59,-9.607,-0.169},{60,-9.777,-0.17},{61,-9.945,-0.168}}}, {{{44,-7.012,-0.174},{45,-7.186,-0.174},{46,-7.361,-0.175},{47,-7.535,-0.174},{48,-7.710,-0.175},{49,-7.884,-0.174}},{{50,-8.058,-0.174},{51,-8.232,-0.174},{52,-8.405,-0.173},{53,-8.579,-0.174},{54,-8.751,-0.172},{55,-8.924,-0.173}}}, {{{39,-6.143,-0.173},{40,-6.316,-0.173},{41,-6.490,-0.174},{42,-6.664,-0.174},{43,-6.838,-0.174}},{{44,-7.012,-0.174},{45,-7.186,-0.174},{46,-7.361,-0.175},{47,-7.535,-0.174},{48,-7.710,-0.175},{49,-7.884,-0.174}}}, {{{33,-5.112,-0.17},{34,-5.282,-0.17},{35,-5.453,-0.171},{36,-5.625,-0.172},{37,-5.797,-0.172},{38,-5.970,-0.173}},{{39,-6.143,-0.173},{40,-6.316,-0.173},{41,-6.490,-0.174},{42,-6.664,-0.174},{43,-6.838,-0.174}}}, {{{27,-4.102,-0.166},{28,-4.268,-0.166},{29,-4.435,-0.167},{30,-4.603,-0.168},{31,-4.772,-0.169},{32,-4.942,-0.17}},{{33,-5.112,-0.17},{34,-5.282,-0.17},{35,-5.453,-0.171},{36,-5.625,-0.172},{37,-5.797,-0.172},{38,-5.970,-0.173}}}, {{{21,-3.121,-0.16},{22,-3.282,-0.161},{23,-3.444,-0.162},{24,-3.607,-0.163},{25,-3.771,-0.164},{26,-3.936,-0.165}},{{27,-4.102,-0.166},{28,-4.268,-0.166},{29,-4.435,-0.167},{30,-4.603,-0.168},{31,-4.772,-0.169},{32,-4.942,-0.17}}}, {{{14,-2.022,-0.153},{15,-2.176,-0.154},{16,-2.331,-0.155},{17,-2.487,-0.156},{18,-2.644,-0.157},{19,-2.802,-0.158},{20,-2.961,-0.159}},{{21,-3.121,-0.16},{22,-3.282,-0.161},{23,-3.444,-0.162},{24,-3.607,-0.163},{25,-3.771,-0.164},{26,-3.936,-0.165}}}, {{{8,-1.125,-0.146},{9,-1.271,-0.146},{10,-1.419,-0.148},{11,-1.568,-0.149},{12,-1.718,-0.15},{13,-1.869,-0.151}},{{14,-2.022,-0.153},{15,-2.176,-0.154},{16,-2.331,-0.155},{17,-2.487,-0.156},{18,-2.644,-0.157},{19,-2.802,-0.158},{20,-2.961,-0.159}}}, {{{-7,.911,-0.124},{-6,.785,-0.126},{-5,.658,-0.127},{-4,.529,-0.129},{-3,.399,-0.13},{-2,.267,-0.132},{-1,.134,-0.133},{0,0,-0.134},{1,-.136,-0.136},{2,-.273,-0.137},{3,-.412,-0.139},{4,-.552,-0.14},{5,-.693,-0.141},{6,-.836,-0.143},{7,-.979,-0.143}},{{-16,1.973,-0.11},{-15,1.861,-0.112},{-14,1.748,-0.113},{-13,1.633,-0.115},{-12,1.516,-0.117},{-11,1.398,-0.118},{-10,1.279,-0.119},{-9,1.157,-0.122},{-8,1.035,-0.122}}}, {{{-16,1.973,-0.11},{-15,1.861,-0.112},{-14,1.748,-0.113},{-13,1.633,-0.115},{-12,1.516,-0.117},{-11,1.398,-0.118},{-10,1.279,-0.119},{-9,1.157,-0.122},{-8,1.035,-0.122}},{{-26,2.997,-0.093},{-25,2.903,-0.094},{-24,2.806,-0.097},{-23,2.708,-0.098},{-22,2.608,-0.1},{-21,2.506,-0.102},{-20,2.403,-0.103},{-19,2.298,-0.105},{-18,2.191,-0.107},{-17,2.083,-0.108}}}, {{{-26,2.997,-0.093},{-25,2.903,-0.094},{-24,2.806,-0.097},{-23,2.708,-0.098},{-22,2.608,-0.1},{-21,2.506,-0.102},{-20,2.403,-0.103},{-19,2.298,-0.105},{-18,2.191,-0.107},{-17,2.083,-0.108}},{{-30,3.359,0},{-29,3.271,-0.088},{-28,3.182,-0.089},{-27,3.090,-0.092}}}, {{{-30,3.359,0},{-29,3.271,-0.088},{-28,3.182,-0.089},{-27,3.090,-0.092}},{}}}
 
static const std::vector< std::pair< float, float > > WristRollPitchTableMap1 = {{-1.723,0}, {-1.580,0.143}, {-1.430,0.15}, {-1.273,0.157}, {-1.110,0.163}, {-.940,0.17}, {-.763,0.177}, {-.581,0.182}, {-.393,0.188}, {-.199,0.194}, {0,0.199}, {.391,0.391}, {.779,0.388}, {1.163,0.384}, {1.545,0.382}, {1.923,0.378}, {2.299,0.376}, {2.673,0.374}, {3.045,0.372}, {3.415,0.37}, {3.783,0.368}}
 
static const std::vector< std::pair< float, float > > WristRollPitchTableMap2 = {{3.359,0}, {3.271,-0.088}, {3.182,-0.089}, {3.090,-0.092}, {2.997,-0.093}, {2.903,-0.094}, {2.806,-0.097}, {2.708,-0.098}, {2.608,-0.1}, {2.506,-0.102}, {2.403,-0.103}, {2.298,-0.105}, {2.191,-0.107}, {2.083,-0.108}, {1.973,-0.11}, {1.861,-0.112}, {1.748,-0.113}, {1.633,-0.115}, {1.516,-0.117}, {1.398,-0.118}, {1.279,-0.119}, {1.157,-0.122}, {1.035,-0.122}, {.911,-0.124}, {.785,-0.126}, {.658,-0.127}, {.529,-0.129}, {.399,-0.13}, {.267,-0.132}, {.134,-0.133}, {0,-0.134}, {-.136,-0.136}, {-.273,-0.137}, {-.412,-0.139}, {-.552,-0.14}, {-.693,-0.141}, {-.836,-0.143}, {-.979,-0.143}, {-1.125,-0.146}, {-1.271,-0.146}, {-1.419,-0.148}, {-1.568,-0.149}, {-1.718,-0.15}, {-1.869,-0.151}, {-2.022,-0.153}, {-2.176,-0.154}, {-2.331,-0.155}, {-2.487,-0.156}, {-2.644,-0.157}, {-2.802,-0.158}, {-2.961,-0.159}, {-3.121,-0.16}, {-3.282,-0.161}, {-3.444,-0.162}, {-3.607,-0.163}, {-3.771,-0.164}, {-3.936,-0.165}, {-4.102,-0.166}, {-4.268,-0.166}, {-4.435,-0.167}, {-4.603,-0.168}, {-4.772,-0.169}, {-4.942,-0.17}, {-5.112,-0.17}, {-5.282,-0.17}, {-5.453,-0.171}, {-5.625,-0.172}, {-5.797,-0.172}, {-5.970,-0.173}, {-6.143,-0.173}, {-6.316,-0.173}, {-6.490,-0.174}, {-6.664,-0.174}, {-6.838,-0.174}, {-7.012,-0.174}, {-7.186,-0.174}, {-7.361,-0.175}, {-7.535,-0.174}, {-7.710,-0.175}, {-7.884,-0.174}, {-8.058,-0.174}, {-8.232,-0.174}, {-8.405,-0.173}, {-8.579,-0.174}, {-8.751,-0.172}, {-8.924,-0.173}, {-9.096,-0.172}, {-9.267,-0.171}, {-9.438,-0.171}, {-9.607,-0.169}, {-9.777,-0.17}, {-9.945,-0.168}, {-10.112,-0.167}, {-10.279,-0.167}, {-10.444,-0.165}, {-10.608,-0.164}, {-10.771,-0.163}, {-10.933,-0.162}, {-11.093,-0.16}, {-11.252,-0.159}, {-11.410,-0.158}, {-11.566,-0.156}, {-11.720,-0.154}, {-11.873,-0.153}, {-12.024,-0.151}, {-12.173,-0.149}, {-12.320,-0.147}, {-12.465,-0.145}, {-12.608,-0.143}, {-12.749,-0.141}, {-12.888,-0.139}, {-13.025,-0.137}, {-13.159,-0.134}, {-13.291,-0.132}, {-13.421,-0.13}, {-13.548,-0.127}, {-13.673,-0.125}, {-13.795,-0.122}, {-13.914,-0.119}, {-14.030,-0.116}, {-14.144,-0.114}}
 

Function Documentation

float noid::common::ElbowPitchInvTable ( float  _stroke)

Definition at line 157 of file stroke_to_angle.cpp.

float noid::common::ElbowPitchTable ( float  _angle)

Definition at line 47 of file angle_to_stroke.cpp.

float noid::common::LegInvTable ( float  _stroke)

Definition at line 633 of file stroke_to_angle.cpp.

float noid::common::LegTable ( float  _angle)

Definition at line 126 of file angle_to_stroke.cpp.

void noid::common::MaskRobotCommand ( std::vector< int16_t > &  _strokes,
const std::vector< bool >  _angles 
)
inline

Definition at line 18 of file stroke_mask.h.

float noid::common::NeckPitchInvTable ( float  _stroke)

Definition at line 497 of file stroke_to_angle.cpp.

float noid::common::NeckRollInvTable ( float  _stroke)

Definition at line 565 of file stroke_to_angle.cpp.

dualJoint noid::common::NeckRollPitchTable ( float  _angle1,
float  _angle2 
)

Definition at line 104 of file angle_to_stroke.cpp.

float noid::common::ShoulderPitchInvTable ( float  _stroke)

Definition at line 21 of file stroke_to_angle.cpp.

float noid::common::ShoulderPitchTable ( float  _angle)

Definition at line 21 of file angle_to_stroke.cpp.

float noid::common::ShoulderRollInvTable ( float  _stroke)

Definition at line 89 of file stroke_to_angle.cpp.

float noid::common::ShoulderRollTable ( float  _angle)

Definition at line 34 of file angle_to_stroke.cpp.

float noid::common::WaistPitchInvTable ( float  _stroke)

Definition at line 361 of file stroke_to_angle.cpp.

float noid::common::WaistRollInvTable ( float  _stroke)

Definition at line 429 of file stroke_to_angle.cpp.

dualJoint noid::common::WaistRollPitchTable ( float  _angle1,
float  _angle2 
)

Definition at line 82 of file angle_to_stroke.cpp.

float noid::common::WristPitchInvTable ( float  _stroke)

Definition at line 225 of file stroke_to_angle.cpp.

float noid::common::WristRollInvTable ( float  _stroke)

Definition at line 293 of file stroke_to_angle.cpp.

dualJoint noid::common::WristRollPitchTable ( float  _angle1,
float  _angle2 
)

Definition at line 60 of file angle_to_stroke.cpp.

Variable Documentation

const int noid::common::ArrayElbowPitchInvTableOffset = -42
static

Definition at line 40 of file stroke_to_angle.h.

const int noid::common::ArrayElbowPitchTableOffset = 0
static

Definition at line 39 of file angle_to_stroke.h.

const int noid::common::ArrayLegInvTableOffset = 0
static

Definition at line 26 of file stroke_to_angle.h.

const int noid::common::ArrayLegTableOffset = 0
static

Definition at line 25 of file angle_to_stroke.h.

const int noid::common::ArrayNeckPitchInvTableOffset = -3
static

Definition at line 30 of file stroke_to_angle.h.

const int noid::common::ArrayNeckRollInvTableOffset = -7
static

Definition at line 28 of file stroke_to_angle.h.

const int noid::common::ArrayNeckRollPitchTableOffset1 = -20
static

Definition at line 29 of file angle_to_stroke.h.

const int noid::common::ArrayNeckRollPitchTableOffset2 = -20
static

Definition at line 28 of file angle_to_stroke.h.

const int noid::common::ArrayShoulderPitchInvTableOffset = -45
static

Definition at line 45 of file stroke_to_angle.h.

const int noid::common::ArrayShoulderPitchTableOffset = -20
static

Definition at line 44 of file angle_to_stroke.h.

const int noid::common::ArrayShoulderRollInvTableOffset = 0
static

Definition at line 42 of file stroke_to_angle.h.

const int noid::common::ArrayShoulderRollTableOffset = 0
static

Definition at line 41 of file angle_to_stroke.h.

const int noid::common::ArrayWaistPitchInvTableOffset = -5
static

Definition at line 34 of file stroke_to_angle.h.

const int noid::common::ArrayWaistRollInvTableOffset = -5
static

Definition at line 32 of file stroke_to_angle.h.

const int noid::common::ArrayWaistRollPitchTableOffset1 = -8
static

Definition at line 33 of file angle_to_stroke.h.

const int noid::common::ArrayWaistRollPitchTableOffset2 = -9
static

Definition at line 32 of file angle_to_stroke.h.

const int noid::common::ArrayWristPitchInvTableOffset = -1
static

Definition at line 38 of file stroke_to_angle.h.

const int noid::common::ArrayWristRollInvTableOffset = -14
static

Definition at line 36 of file stroke_to_angle.h.

const int noid::common::ArrayWristRollPitchTableOffset1 = -10
static

Definition at line 37 of file angle_to_stroke.h.

const int noid::common::ArrayWristRollPitchTableOffset2 = -30
static

Definition at line 36 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::ElbowPitchInvTableCandidates = {{{{0,-42.426,0},{1,-42.165,0.261}},{}}, {{{2,-41.901,0.264},{3,-41.633,0.268},{4,-41.363,0.27},{5,-41.089,0.274}},{{0,-42.426,0},{1,-42.165,0.261}}}, {{{6,-40.813,0.276},{7,-40.534,0.279},{8,-40.252,0.282}},{{2,-41.901,0.264},{3,-41.633,0.268},{4,-41.363,0.27},{5,-41.089,0.274}}}, {{{9,-39.968,0.284},{10,-39.682,0.286},{11,-39.394,0.288},{12,-39.104,0.29}},{{6,-40.813,0.276},{7,-40.534,0.279},{8,-40.252,0.282}}}, {{{13,-38.811,0.293},{14,-38.518,0.293},{15,-38.222,0.296}},{{9,-39.968,0.284},{10,-39.682,0.286},{11,-39.394,0.288},{12,-39.104,0.29}}}, {{{16,-37.926,0.296},{17,-37.627,0.299},{18,-37.328,0.299},{19,-37.027,0.301}},{{13,-38.811,0.293},{14,-38.518,0.293},{15,-38.222,0.296}}}, {{{20,-36.726,0.301},{21,-36.423,0.303},{22,-36.119,0.304}},{{16,-37.926,0.296},{17,-37.627,0.299},{18,-37.328,0.299},{19,-37.027,0.301}}}, {{{23,-35.815,0.304},{24,-35.510,0.305},{25,-35.204,0.306}},{{20,-36.726,0.301},{21,-36.423,0.303},{22,-36.119,0.304}}}, {{{26,-34.898,0.306},{27,-34.591,0.307},{28,-34.284,0.307}},{{23,-35.815,0.304},{24,-35.510,0.305},{25,-35.204,0.306}}}, {{{29,-33.976,0.308},{30,-33.668,0.308},{31,-33.360,0.308},{32,-33.052,0.308}},{{26,-34.898,0.306},{27,-34.591,0.307},{28,-34.284,0.307}}}, {{{33,-32.744,0.308},{34,-32.436,0.308},{35,-32.128,0.308}},{{29,-33.976,0.308},{30,-33.668,0.308},{31,-33.360,0.308},{32,-33.052,0.308}}}, {{{36,-31.820,0.308},{37,-31.512,0.308},{38,-31.204,0.308}},{{33,-32.744,0.308},{34,-32.436,0.308},{35,-32.128,0.308}}}, {{{39,-30.897,0.307},{40,-30.590,0.307},{41,-30.283,0.307}},{{36,-31.820,0.308},{37,-31.512,0.308},{38,-31.204,0.308}}}, {{{42,-29.977,0.306},{43,-29.671,0.306},{44,-29.366,0.305},{45,-29.061,0.305}},{{39,-30.897,0.307},{40,-30.590,0.307},{41,-30.283,0.307}}}, {{{46,-28.757,0.304},{47,-28.454,0.303},{48,-28.151,0.303}},{{42,-29.977,0.306},{43,-29.671,0.306},{44,-29.366,0.305},{45,-29.061,0.305}}}, {{{49,-27.849,0.302},{50,-27.547,0.302},{51,-27.247,0.3}},{{46,-28.757,0.304},{47,-28.454,0.303},{48,-28.151,0.303}}}, {{{52,-26.947,0.3},{53,-26.648,0.299},{54,-26.350,0.298},{55,-26.053,0.297}},{{49,-27.849,0.302},{50,-27.547,0.302},{51,-27.247,0.3}}}, {{{56,-25.756,0.297},{57,-25.461,0.295},{58,-25.167,0.294}},{{52,-26.947,0.3},{53,-26.648,0.299},{54,-26.350,0.298},{55,-26.053,0.297}}}, {{{59,-24.874,0.293},{60,-24.581,0.293},{61,-24.290,0.291},{62,-24.000,0.29}},{{56,-25.756,0.297},{57,-25.461,0.295},{58,-25.167,0.294}}}, {{{63,-23.711,0.289},{64,-23.423,0.288},{65,-23.136,0.287}},{{59,-24.874,0.293},{60,-24.581,0.293},{61,-24.290,0.291},{62,-24.000,0.29}}}, {{{66,-22.851,0.285},{67,-22.566,0.285},{68,-22.283,0.283},{69,-22.001,0.282}},{{63,-23.711,0.289},{64,-23.423,0.288},{65,-23.136,0.287}}}, {{{70,-21.721,0.28},{71,-21.441,0.28},{72,-21.163,0.278}},{{66,-22.851,0.285},{67,-22.566,0.285},{68,-22.283,0.283},{69,-22.001,0.282}}}, {{{73,-20.886,0.277},{74,-20.611,0.275},{75,-20.336,0.275},{76,-20.063,0.273}},{{70,-21.721,0.28},{71,-21.441,0.28},{72,-21.163,0.278}}}, {{{77,-19.792,0.271},{78,-19.522,0.27},{79,-19.253,0.269}},{{73,-20.886,0.277},{74,-20.611,0.275},{75,-20.336,0.275},{76,-20.063,0.273}}}, {{{80,-18.986,0.267},{81,-18.720,0.266},{82,-18.455,0.265},{83,-18.192,0.263}},{{77,-19.792,0.271},{78,-19.522,0.27},{79,-19.253,0.269}}}, {{{84,-17.930,0.262},{85,-17.670,0.26},{86,-17.411,0.259},{87,-17.154,0.257}},{{80,-18.986,0.267},{81,-18.720,0.266},{82,-18.455,0.265},{83,-18.192,0.263}}}, {{{88,-16.898,0.256},{89,-16.643,0.255},{90,-16.391,0.252},{91,-16.139,0.252}},{{84,-17.930,0.262},{85,-17.670,0.26},{86,-17.411,0.259},{87,-17.154,0.257}}}, {{{92,-15.889,0.25},{93,-15.641,0.248},{94,-15.394,0.247},{95,-15.148,0.246}},{{88,-16.898,0.256},{89,-16.643,0.255},{90,-16.391,0.252},{91,-16.139,0.252}}}, {{{96,-14.904,0.244},{97,-14.662,0.242},{98,-14.421,0.241},{99,-14.182,0.239}},{{92,-15.889,0.25},{93,-15.641,0.248},{94,-15.394,0.247},{95,-15.148,0.246}}}, {{{100,-13.944,0.238},{101,-13.708,0.236},{102,-13.473,0.235},{103,-13.240,0.233},{104,-13.009,0.231}},{{96,-14.904,0.244},{97,-14.662,0.242},{98,-14.421,0.241},{99,-14.182,0.239}}}, {{{105,-12.779,0.23},{106,-12.550,0.229},{107,-12.323,0.227},{108,-12.098,0.225}},{{100,-13.944,0.238},{101,-13.708,0.236},{102,-13.473,0.235},{103,-13.240,0.233},{104,-13.009,0.231}}}, {{{109,-11.874,0.224},{110,-11.652,0.222},{111,-11.431,0.221},{112,-11.212,0.219}},{{105,-12.779,0.23},{106,-12.550,0.229},{107,-12.323,0.227},{108,-12.098,0.225}}}, {{{113,-10.995,0.217},{114,-10.779,0.216},{115,-10.564,0.215},{116,-10.352,0.212},{117,-10.140,0.212}},{{109,-11.874,0.224},{110,-11.652,0.222},{111,-11.431,0.221},{112,-11.212,0.219}}}, {{{118,-9.931,0.209},{119,-9.723,0.208},{120,-9.516,0.207},{121,-9.311,0.205},{122,-9.108,0.203}},{{113,-10.995,0.217},{114,-10.779,0.216},{115,-10.564,0.215},{116,-10.352,0.212},{117,-10.140,0.212}}}, {{{123,-8.906,0.202},{124,-8.706,0.2},{125,-8.507,0.199},{126,-8.310,0.197},{127,-8.115,0.195}},{{118,-9.931,0.209},{119,-9.723,0.208},{120,-9.516,0.207},{121,-9.311,0.205},{122,-9.108,0.203}}}, {{{128,-7.921,0.194},{129,-7.728,0.193},{130,-7.538,0.19},{131,-7.348,0.19},{132,-7.161,0.187}},{{123,-8.906,0.202},{124,-8.706,0.2},{125,-8.507,0.199},{126,-8.310,0.197},{127,-8.115,0.195}}}, {{{133,-6.975,0.186},{134,-6.790,0.185},{135,-6.607,0.183},{136,-6.426,0.181},{137,-6.246,0.18},{138,-6.068,0.178}},{{128,-7.921,0.194},{129,-7.728,0.193},{130,-7.538,0.19},{131,-7.348,0.19},{132,-7.161,0.187}}}, {{{139,-5.891,0.177},{140,-5.716,0.175},{141,-5.543,0.173},{142,-5.371,0.172},{143,-5.200,0.171},{144,-5.031,0.169}},{{133,-6.975,0.186},{134,-6.790,0.185},{135,-6.607,0.183},{136,-6.426,0.181},{137,-6.246,0.18},{138,-6.068,0.178}}}, {{{145,-4.864,0.167},{146,-4.698,0.166},{147,-4.534,0.164},{148,-4.371,0.163},{149,-4.210,0.161},{150,-4.051,0.159}},{{139,-5.891,0.177},{140,-5.716,0.175},{141,-5.543,0.173},{142,-5.371,0.172},{143,-5.200,0.171},{144,-5.031,0.169}}}, {{{151,-3.893,0.158},{152,-3.736,0.157},{153,-3.581,0.155},{154,-3.428,0.153},{155,-3.276,0.152},{156,-3.126,0.15}},{{145,-4.864,0.167},{146,-4.698,0.166},{147,-4.534,0.164},{148,-4.371,0.163},{149,-4.210,0.161},{150,-4.051,0.159}}}, {{{157,-2.978,0.148},{158,-2.831,0.147},{159,-2.685,0.146},{160,-2.541,0.144},{161,-2.399,0.142},{162,-2.258,0.141},{163,-2.119,0.139}},{{151,-3.893,0.158},{152,-3.736,0.157},{153,-3.581,0.155},{154,-3.428,0.153},{155,-3.276,0.152},{156,-3.126,0.15}}}, {{{164,-1.981,0.138},{165,-1.845,0.136},{166,-1.711,0.134},{167,-1.578,0.133},{168,-1.447,0.131},{169,-1.317,0.13},{170,-1.189,0.128},{171,-1.063,0.126}},{{157,-2.978,0.148},{158,-2.831,0.147},{159,-2.685,0.146},{160,-2.541,0.144},{161,-2.399,0.142},{162,-2.258,0.141},{163,-2.119,0.139}}}, {{{172,-.938,0.125},{173,-.815,0.123},{174,-.693,0.122},{175,-.574,0.119},{176,-.456,0.118},{177,-.339,0.117},{178,-.224,0.115},{179,-.111,0.113},{180,0,0.111}},{}}}
static

Definition at line 39 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::ElbowPitchTableMap = {{-42.426, 0},{-42.165, 0.261},{-41.901, 0.264},{-41.633, 0.268},{-41.363, 0.27},{-41.089, 0.274},{-40.813, 0.276},{-40.534, 0.279},{-40.252, 0.282},{-39.968, 0.284},{-39.682, 0.286},{-39.394, 0.288},{-39.104, 0.29},{-38.811, 0.293},{-38.518, 0.293},{-38.222, 0.296},{-37.926, 0.296},{-37.627, 0.299},{-37.328, 0.299},{-37.027, 0.301},{-36.726, 0.301},{-36.423, 0.303},{-36.119, 0.304},{-35.815, 0.304},{-35.510, 0.305},{-35.204, 0.306},{-34.898, 0.306},{-34.591, 0.307},{-34.284, 0.307},{-33.976, 0.308},{-33.668, 0.308},{-33.360, 0.308},{-33.052, 0.308},{-32.744, 0.308},{-32.436, 0.308},{-32.128, 0.308},{-31.820, 0.308},{-31.512, 0.308},{-31.204, 0.308},{-30.897, 0.307},{-30.590, 0.307},{-30.283, 0.307},{-29.977, 0.306},{-29.671, 0.306},{-29.366, 0.305},{-29.061, 0.305},{-28.757, 0.304},{-28.454, 0.303},{-28.151, 0.303},{-27.849, 0.302},{-27.547, 0.302},{-27.247, 0.3},{-26.947, 0.3},{-26.648, 0.299},{-26.350, 0.298},{-26.053, 0.297},{-25.756, 0.297},{-25.461, 0.295},{-25.167, 0.294},{-24.874, 0.293},{-24.581, 0.293},{-24.290, 0.291},{-24.000, 0.29},{-23.711, 0.289},{-23.423, 0.288},{-23.136, 0.287},{-22.851, 0.285},{-22.566, 0.285},{-22.283, 0.283},{-22.001, 0.282},{-21.721, 0.28},{-21.441, 0.28},{-21.163, 0.278},{-20.886, 0.277},{-20.611, 0.275},{-20.336, 0.275},{-20.063, 0.273},{-19.792, 0.271},{-19.522, 0.27},{-19.253, 0.269},{-18.986, 0.267},{-18.720, 0.266},{-18.455, 0.265},{-18.192, 0.263},{-17.930, 0.262},{-17.670, 0.26},{-17.411, 0.259},{-17.154, 0.257},{-16.898, 0.256},{-16.643, 0.255},{-16.391, 0.252},{-16.139, 0.252},{-15.889, 0.25},{-15.641, 0.248},{-15.394, 0.247},{-15.148, 0.246},{-14.904, 0.244},{-14.662, 0.242},{-14.421, 0.241},{-14.182, 0.239},{-13.944, 0.238},{-13.708, 0.236},{-13.473, 0.235},{-13.240, 0.233},{-13.009, 0.231},{-12.779, 0.23},{-12.550, 0.229},{-12.323, 0.227},{-12.098, 0.225},{-11.874, 0.224},{-11.652, 0.222},{-11.431, 0.221},{-11.212, 0.219},{-10.995, 0.217},{-10.779, 0.216},{-10.564, 0.215},{-10.352, 0.212},{-10.140, 0.212},{-9.931, 0.209},{-9.723, 0.208},{-9.516, 0.207},{-9.311, 0.205},{-9.108, 0.203},{-8.906, 0.202},{-8.706, 0.2},{-8.507, 0.199},{-8.310, 0.197},{-8.115, 0.195},{-7.921, 0.194},{-7.728, 0.193},{-7.538, 0.19},{-7.348, 0.19},{-7.161, 0.187},{-6.975, 0.186},{-6.790, 0.185},{-6.607, 0.183},{-6.426, 0.181},{-6.246, 0.18},{-6.068, 0.178},{-5.891, 0.177},{-5.716, 0.175},{-5.543, 0.173},{-5.371, 0.172},{-5.200, 0.171},{-5.031, 0.169},{-4.864, 0.167},{-4.698, 0.166},{-4.534, 0.164},{-4.371, 0.163},{-4.210, 0.161},{-4.051, 0.159},{-3.893, 0.158},{-3.736, 0.157},{-3.581, 0.155},{-3.428, 0.153},{-3.276, 0.152},{-3.126, 0.15},{-2.978, 0.148},{-2.831, 0.147},{-2.685, 0.146},{-2.541, 0.144},{-2.399, 0.142},{-2.258, 0.141},{-2.119, 0.139},{-1.981, 0.138},{-1.845, 0.136},{-1.711, 0.134},{-1.578, 0.133},{-1.447, 0.131},{-1.317, 0.13},{-1.189, 0.128},{-1.063, 0.126},{-.938, 0.125},{-.815, 0.123},{-.693, 0.122},{-.574, 0.119},{-.456, 0.118},{-.339, 0.117},{-.224, 0.115},{-.111, 0.113},{0, 0.111}}
static

Definition at line 38 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::LegInvTableCandidates = {{{{0,0,0},{1,.655,0.655},{3,2,0.678}},{}}, {{{0,0.0f,0.0f}}, {}}, {{{4,2.688,0.688}},{{5,3.386,0.698}}}, {{{5,3.386,0.698}},{{6,4.092,0.706},{7,4.807,0.715}}}, {{{6,4.092,0.706},{7,4.807,0.715}},{{8,5.529,0.722}}}, {{{8,5.529,0.722}},{{9,6.258,0.729},{10,6.994,0.736}}}, {{{9,6.258,0.729},{10,6.994,0.736}},{{11,7.737,0.743}}}, {{{11,7.737,0.743}},{{12,8.484,0.747}}}, {{{12,8.484,0.747}},{{13,9.237,0.753},{14,9.995,0.758}}}, {{{13,9.237,0.753},{14,9.995,0.758}},{{15,10.756,0.761}}}, {{{15,10.756,0.761}},{{16,11.522,0.766}}}, {{{16,11.522,0.766}},{{17,12.291,0.769}}}, {{{17,12.291,0.769}},{{18,13.063,0.772},{19,13.838,0.775}}}, {{{18,13.063,0.772},{19,13.838,0.775}},{{20,14.615,0.777}}}, {{{20,14.615,0.777}},{{21,15.394,0.779}}}, {{{21,15.394,0.779}},{{22,16.175,0.781},{23,16.958,0.783}}}, {{{22,16.175,0.781},{23,16.958,0.783}},{{24,17.741,0.783}}}, {{{24,17.741,0.783}},{{25,18.526,0.785}}}, {{{25,18.526,0.785}},{{26,19.311,0.785}}}, {{{26,19.311,0.785}},{{27,20.096,0.785},{28,20.881,0.785}}}, {{{27,20.096,0.785},{28,20.881,0.785}},{{29,21.667,0.786}}}, {{{29,21.667,0.786}},{{30,22.451,0.784}}}, {{{30,22.451,0.784}},{{31,23.236,0.785}}}, {{{31,23.236,0.785}},{{32,24.019,0.783},{33,24.801,0.782}}}, {{{32,24.019,0.783},{33,24.801,0.782}},{{34,25.583,0.782}}}, {{{34,25.583,0.782}},{{35,26.362,0.779}}}, {{{35,26.362,0.779}},{{36,27.141,0.779},{37,27.917,0.776}}}, {{{36,27.141,0.779},{37,27.917,0.776}},{{38,28.691,0.774}}}, {{{38,28.691,0.774}},{{39,29.464,0.773}}}, {{{39,29.464,0.773}},{{40,30.234,0.77}}}, {{{40,30.234,0.77}},{{41,31.001,0.767},{42,31.767,0.766}}}, {{{41,31.001,0.767},{42,31.767,0.766}},{{43,32.529,0.762}}}, {{{43,32.529,0.762}},{{44,33.288,0.759}}}, {{{44,33.288,0.759}},{{45,34.045,0.757},{46,34.798,0.753}}}, {{{45,34.045,0.757},{46,34.798,0.753}},{{47,35.548,0.75}}}, {{{47,35.548,0.75}},{{48,36.294,0.746}}}, {{{48,36.294,0.746}},{{49,37.037,0.743},{50,37.776,0.739}}}, {{{49,37.037,0.743},{50,37.776,0.739}},{{51,38.512,0.736}}}, {{{51,38.512,0.736}},{{52,39.243,0.731},{53,39.97,0.727}}}, {{{52,39.243,0.731},{53,39.97,0.727}},{{54,40.694,0.724}}}, {{{54,40.694,0.724}},{{55,41.413,0.719}}}, {{{55,41.413,0.719}},{{56,42.127,0.714},{57,42.838,0.711}}}, {{{56,42.127,0.714},{57,42.838,0.711}},{{58,43.543,0.705}}}, {{{58,43.543,0.705}},{{59,44.244,0.701},{60,44.94,0.696}}}, {{{59,44.244,0.701},{60,44.94,0.696}},{{61,45.632,0.692}}}, {{{61,45.632,0.692}},{{62,46.318,0.686},{63,46.999,0.681}}}, {{{62,46.318,0.686},{63,46.999,0.681}},{{64,47.676,0.677}}}, {{{64,47.676,0.677}},{{65,48.347,0.671}}}, {{{65,48.347,0.671}},{{66,49.012,0.665},{67,49.672,0.66}}}, {{{66,49.012,0.665},{67,49.672,0.66}},{{68,50.327,0.655},{69,50.976,0.649}}}, {{{68,50.327,0.655},{69,50.976,0.649}},{{70,51.62,0.644}}}, {{{70,51.62,0.644}},{{71,52.258,0.638},{72,52.89,0.632}}}, {{{71,52.258,0.638},{72,52.89,0.632}},{{73,53.516,0.626}}}, {{{73,53.516,0.626}},{{74,54.136,0.62},{75,54.75,0.614}}}, {{{74,54.136,0.62},{75,54.75,0.614}},{{76,55.358,0.608},{77,55.96,0.602}}}, {{{76,55.358,0.608},{77,55.96,0.602}},{{78,56.556,0.596}}}, {{{78,56.556,0.596}},{{79,57.145,0.589},{80,57.729,0.584}}}, {{{79,57.145,0.589},{80,57.729,0.584}},{{81,58.305,0.576},{82,58.875,0.57}}}, {{{81,58.305,0.576},{82,58.875,0.57}},{{83,59.439,0.564},{84,59.996,0.557}}}, {{{83,59.439,0.564},{84,59.996,0.557}},{{85,60.546,0.55}}}, {{{85,60.546,0.55}},{{86,61.09,0.544},{87,61.626,0.536}}}, {{{86,61.09,0.544},{87,61.626,0.536}},{{88,62.156,0.53},{89,62.679,0.523}}}, {{{88,62.156,0.53},{89,62.679,0.523}},{{90,63.195,0.516}}}, {{{90,63.195,0.516}},{}}}
static

Definition at line 25 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::LegTableMap = {{0, 0},{.655, 0.655},{1.322, 0.667},{2, 0.678},{2.688, 0.688},{3.386, 0.698},{4.092, 0.706},{4.807, 0.715},{5.529, 0.722},{6.258, 0.729},{6.994, 0.736},{7.737, 0.743},{8.484, 0.747},{9.237, 0.753},{9.995, 0.758},{10.756, 0.761},{11.522, 0.766},{12.291, 0.769},{13.063, 0.772},{13.838, 0.775},{14.615, 0.777},{15.394, 0.779},{16.175, 0.781},{16.958, 0.783},{17.741, 0.783},{18.526, 0.785},{19.311, 0.785},{20.096, 0.785},{20.881, 0.785},{21.667, 0.786},{22.451, 0.784},{23.236, 0.785},{24.019, 0.783},{24.801, 0.782},{25.583, 0.782},{26.362, 0.779},{27.141, 0.779},{27.917, 0.776},{28.691, 0.774},{29.464, 0.773},{30.234, 0.77},{31.001, 0.767},{31.767, 0.766},{32.529, 0.762},{33.288, 0.759},{34.045, 0.757},{34.798, 0.753},{35.548, 0.75},{36.294, 0.746},{37.037, 0.743},{37.776, 0.739},{38.512, 0.736},{39.243, 0.731},{39.97, 0.727},{40.694, 0.724},{41.413, 0.719},{42.127, 0.714},{42.838, 0.711},{43.543, 0.705},{44.244, 0.701},{44.94, 0.696},{45.632, 0.692},{46.318, 0.686},{46.999, 0.681},{47.676, 0.677},{48.347, 0.671},{49.012, 0.665},{49.672, 0.66},{50.327, 0.655},{50.976, 0.649},{51.62, 0.644},{52.258, 0.638},{52.89, 0.632},{53.516, 0.626},{54.136, 0.62},{54.75, 0.614},{55.358, 0.608},{55.96, 0.602},{56.556, 0.596},{57.145, 0.589},{57.729, 0.584},{58.305, 0.576},{58.875, 0.57},{59.439, 0.564},{59.996, 0.557},{60.546, 0.55},{61.09, 0.544},{61.626, 0.536},{62.156, 0.53},{62.679, 0.523},{63.195, 0.516}}
static

Definition at line 24 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::NeckPitchInvTableCandidates = {{{{-20,-3.124,0}},{}}, {{{-19,-2.985,0.139},{-18,-2.843,0.142},{-17,-2.699,0.144},{-16,-2.553,0.146},{-15,-2.405,0.148},{-14,-2.255,0.15},{-13,-2.103,0.152}},{{-20,-3.124,0}}}, {{{-12,-1.950,0.153},{-11,-1.795,0.155},{-10,-1.638,0.157},{-9,-1.480,0.158},{-8,-1.321,0.159},{-7,-1.160,0.161}},{{-19,-2.985,0.139},{-18,-2.843,0.142},{-17,-2.699,0.144},{-16,-2.553,0.146},{-15,-2.405,0.148},{-14,-2.255,0.15},{-13,-2.103,0.152}}}, {{{-6,-.997,0.163},{-5,-.834,0.163},{-4,-.669,0.165},{-3,-.503,0.166},{-2,-.337,0.166},{-1,-.169,0.168},{0,0,0.169},{1,.169,0.169},{2,.340,0.171},{3,.510,0.17},{4,.682,0.172},{5,.854,0.172}},{{6,1.027,0.173},{7,1.200,0.173},{8,1.373,0.173},{9,1.547,0.174},{10,1.721,0.174},{11,1.895,0.174}}}, {{{6,1.027,0.173},{7,1.200,0.173},{8,1.373,0.173},{9,1.547,0.174},{10,1.721,0.174},{11,1.895,0.174}},{{12,2.070,0.175},{13,2.244,0.174},{14,2.418,0.174},{15,2.593,0.175},{16,2.767,0.174},{17,2.941,0.174}}}, {{{12,2.070,0.175},{13,2.244,0.174},{14,2.418,0.174},{15,2.593,0.175},{16,2.767,0.174},{17,2.941,0.174}},{{18,3.115,0.174},{19,3.289,0.174},{20,3.463,0.174},{21,3.636,0.173},{22,3.809,0.173},{23,3.981,0.172}}}, {{{18,3.115,0.174},{19,3.289,0.174},{20,3.463,0.174},{21,3.636,0.173},{22,3.809,0.173},{23,3.981,0.172}},{{24,4.153,0.172},{25,4.325,0.172},{26,4.496,0.171},{27,4.666,0.17},{28,4.836,0.17}}}, {{{24,4.153,0.172},{25,4.325,0.172},{26,4.496,0.171},{27,4.666,0.17},{28,4.836,0.17}},{{29,5.005,0.169},{30,5.173,0.168},{31,5.340,0.167},{32,5.507,0.167},{33,5.673,0.166},{34,5.839,0.166}}}, {{{29,5.005,0.169},{30,5.173,0.168},{31,5.340,0.167},{32,5.507,0.167},{33,5.673,0.166},{34,5.839,0.166}},{{35,6.003,0.164},{36,6.166,0.163},{37,6.329,0.163},{38,6.490,0.161},{39,6.651,0.161},{40,6.810,0.159},{41,6.969,0.159}}}, {{{35,6.003,0.164},{36,6.166,0.163},{37,6.329,0.163},{38,6.490,0.161},{39,6.651,0.161},{40,6.810,0.159},{41,6.969,0.159}},{{42,7.126,0.157},{43,7.283,0.157},{44,7.438,0.155},{45,7.592,0.154},{46,7.745,0.153},{47,7.897,0.152}}}, {{{42,7.126,0.157},{43,7.283,0.157},{44,7.438,0.155},{45,7.592,0.154},{46,7.745,0.153},{47,7.897,0.152}},{{48,8.047,0.15},{49,8.197,0.15},{50,8.345,0.148},{51,8.492,0.147},{52,8.637,0.145},{53,8.782,0.145},{54,8.925,0.143}}}, {{{48,8.047,0.15},{49,8.197,0.15},{50,8.345,0.148},{51,8.492,0.147},{52,8.637,0.145},{53,8.782,0.145},{54,8.925,0.143}},{{55,9.066,0.141},{56,9.206,0.14},{57,9.345,0.139},{58,9.483,0.138},{59,9.619,0.136},{60,9.754,0.135}}}, {{{55,9.066,0.141},{56,9.206,0.14},{57,9.345,0.139},{58,9.483,0.138},{59,9.619,0.136},{60,9.754,0.135}},{}}}
static

Definition at line 29 of file stroke_to_angle.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::NeckRollInvTableCandidates = {{{{-20,-7.38,0},{-19,-7.038,0.342}},{}}, {{{-18,-6.692,0.346},{-17,-6.342,0.35}},{{-20,-7.38,0},{-19,-7.038,0.342}}}, {{{-16,-5.989,0.353},{-15,-5.631,0.358},{-14,-5.271,0.36}},{{-18,-6.692,0.346},{-17,-6.342,0.35}}}, {{{-13,-4.908,0.363},{-12,-4.542,0.366},{-11,-4.173,0.369}},{{-16,-5.989,0.353},{-15,-5.631,0.358},{-14,-5.271,0.36}}}, {{{-10,-3.802,0.371},{-9,-3.429,0.373},{-8,-3.053,0.376}},{{-13,-4.908,0.363},{-12,-4.542,0.366},{-11,-4.173,0.369}}}, {{{-7,-2.676,0.377},{-6,-2.298,0.378}},{{-10,-3.802,0.371},{-9,-3.429,0.373},{-8,-3.053,0.376}}}, {{{-5,-1.917,0.381},{-4,-1.536,0.381},{-3,-1.153,0.383}},{{-7,-2.676,0.377},{-6,-2.298,0.378}}}, {{{-2,-.77,0.383},{-1,-.385,0.385},{0,0,0.385},{1,.385,0.385},{2,.772,0.387}},{{3,1.158,0.386},{4,1.545,0.387},{5,1.931,0.386}}}, {{{3,1.158,0.386},{4,1.545,0.387},{5,1.931,0.386}},{{6,2.318,0.387},{7,2.704,0.386}}}, {{{6,2.318,0.387},{7,2.704,0.386}},{{8,3.09,0.386},{9,3.476,0.386},{10,3.861,0.385}}}, {{{8,3.09,0.386},{9,3.476,0.386},{10,3.861,0.385}},{{11,4.246,0.385},{12,4.629,0.383}}}, {{{11,4.246,0.385},{12,4.629,0.383}},{{13,5.012,0.383},{14,5.395,0.383},{15,5.776,0.381}}}, {{{13,5.012,0.383},{14,5.395,0.383},{15,5.776,0.381}},{{16,6.156,0.38},{17,6.535,0.379},{18,6.913,0.378}}}, {{{16,6.156,0.38},{17,6.535,0.379},{18,6.913,0.378}},{{19,7.289,0.376},{20,7.664,0.375}}}, {{{19,7.289,0.376},{20,7.664,0.375}},{}}}
static

Definition at line 27 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::NeckRollPitchTableMap1 = {{-7.38,0}, {-7.038,0.342}, {-6.692,0.346}, {-6.342,0.35}, {-5.989,0.353}, {-5.631,0.358}, {-5.271,0.36}, {-4.908,0.363}, {-4.542,0.366}, {-4.173,0.369}, {-3.802,0.371}, {-3.429,0.373}, {-3.053,0.376}, {-2.676,0.377}, {-2.298,0.378}, {-1.917,0.381}, {-1.536,0.381}, {-1.153,0.383}, {-.77,0.383}, {-.385,0.385}, {0,0.385}, {.385,0.385}, {.772,0.387}, {1.158,0.386}, {1.545,0.387}, {1.931,0.386}, {2.318,0.387}, {2.704,0.386}, {3.09,0.386}, {3.476,0.386}, {3.861,0.385}, {4.246,0.385}, {4.629,0.383}, {5.012,0.383}, {5.395,0.383}, {5.776,0.381}, {6.156,0.38}, {6.535,0.379}, {6.913,0.378}, {7.289,0.376}, {7.664,0.375}}
static

Definition at line 27 of file angle_to_stroke.h.

const std::vector<std::pair<float, float> > noid::common::NeckRollPitchTableMap2 = {{-3.124,0}, {-2.985,0.139}, {-2.843,0.142}, {-2.699,0.144}, {-2.553,0.146}, {-2.405,0.148}, {-2.255,0.15}, {-2.103,0.152}, {-1.950,0.153}, {-1.795,0.155}, {-1.638,0.157}, {-1.480,0.158}, {-1.321,0.159}, {-1.160,0.161}, {-.997,0.163}, {-.834,0.163}, {-.669,0.165}, {-.503,0.166}, {-.337,0.166}, {-.169,0.168}, {0,0.169}, {.169,0.169}, {.340,0.171}, {.510,0.17}, {.682,0.172}, {.854,0.172}, {1.027,0.173}, {1.200,0.173}, {1.373,0.173}, {1.547,0.174}, {1.721,0.174}, {1.895,0.174}, {2.070,0.175}, {2.244,0.174}, {2.418,0.174}, {2.593,0.175}, {2.767,0.174}, {2.941,0.174}, {3.115,0.174}, {3.289,0.174}, {3.463,0.174}, {3.636,0.173}, {3.809,0.173}, {3.981,0.172}, {4.153,0.172}, {4.325,0.172}, {4.496,0.171}, {4.666,0.17}, {4.836,0.17}, {5.005,0.169}, {5.173,0.168}, {5.340,0.167}, {5.507,0.167}, {5.673,0.166}, {5.839,0.166}, {6.003,0.164}, {6.166,0.163}, {6.329,0.163}, {6.490,0.161}, {6.651,0.161}, {6.810,0.159}, {6.969,0.159}, {7.126,0.157}, {7.283,0.157}, {7.438,0.155}, {7.592,0.154}, {7.745,0.153}, {7.897,0.152}, {8.047,0.15}, {8.197,0.15}, {8.345,0.148}, {8.492,0.147}, {8.637,0.145}, {8.782,0.145}, {8.925,0.143}, {9.066,0.141}, {9.206,0.14}, {9.345,0.139}, {9.483,0.138}, {9.619,0.136}, {9.754,0.135}}
static

Definition at line 26 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::ShoulderPitchInvTableCandidates = {{{{88,-45.146,-0.572},{89,-45.869,-0.723}},{}}, {{{86,-44.064,-0.47},{87,-44.574,-0.51}},{{88,-45.146,-0.572},{89,-45.869,-0.723}}}, {{{84,-43.150,-0.423},{85,-43.594,-0.444}},{{86,-44.064,-0.47},{87,-44.574,-0.51}}}, {{{82,-42.321,-0.393},{83,-42.727,-0.406}},{{84,-43.150,-0.423},{85,-43.594,-0.444}}}, {{{79,-41.174,-0.365},{80,-41.546,-0.372},{81,-41.928,-0.382}},{{82,-42.321,-0.393},{83,-42.727,-0.406}}}, {{{76,-40.100,-0.347},{77,-40.452,-0.352},{78,-40.809,-0.357}},{{79,-41.174,-0.365},{80,-41.546,-0.372},{81,-41.928,-0.382}}}, {{{73,-39.071,-0.336},{74,-39.410,-0.339},{75,-39.753,-0.343}},{{76,-40.100,-0.347},{77,-40.452,-0.352},{78,-40.809,-0.357}}}, {{{70,-38.070,-0.33},{71,-38.402,-0.332},{72,-38.735,-0.333}},{{73,-39.071,-0.336},{74,-39.410,-0.339},{75,-39.753,-0.343}}}, {{{67,-37.083,-0.327},{68,-37.411,-0.328},{69,-37.740,-0.329}},{{70,-38.070,-0.33},{71,-38.402,-0.332},{72,-38.735,-0.333}}}, {{{64,-36.100,-0.329},{65,-36.428,-0.328},{66,-36.756,-0.328}},{{67,-37.083,-0.327},{68,-37.411,-0.328},{69,-37.740,-0.329}}}, {{{61,-35.111,-0.333},{62,-35.442,-0.331},{63,-35.771,-0.329}},{{64,-36.100,-0.329},{65,-36.428,-0.328},{66,-36.756,-0.328}}}, {{{58,-34.107,-0.339},{59,-34.444,-0.337},{60,-34.778,-0.334}},{{61,-35.111,-0.333},{62,-35.442,-0.331},{63,-35.771,-0.329}}}, {{{55,-33.082,-0.349},{56,-33.427,-0.345},{57,-33.768,-0.341}},{{58,-34.107,-0.339},{59,-34.444,-0.337},{60,-34.778,-0.334}}}, {{{52,-32.025,-0.36},{53,-32.381,-0.356},{54,-32.733,-0.352}},{{55,-33.082,-0.349},{56,-33.427,-0.345},{57,-33.768,-0.341}}}, {{{50,-31.300,-0.37},{51,-31.665,-0.365}},{{52,-32.025,-0.36},{53,-32.381,-0.356},{54,-32.733,-0.352}}}, {{{47,-30.174,-0.387},{48,-30.555,-0.381},{49,-30.930,-0.375}},{{50,-31.300,-0.37},{51,-31.665,-0.365}}}, {{{45,-29.394,-0.4},{46,-29.787,-0.393}},{{47,-30.174,-0.387},{48,-30.555,-0.381},{49,-30.930,-0.375}}}, {{{42,-28.172,-0.422},{43,-28.587,-0.415},{44,-28.994,-0.407}},{{45,-29.394,-0.4},{46,-29.787,-0.393}}}, {{{40,-27.319,-0.439},{41,-27.750,-0.431}},{{42,-28.172,-0.422},{43,-28.587,-0.415},{44,-28.994,-0.407}}}, {{{38,-26.431,-0.458},{39,-26.880,-0.449}},{{40,-27.319,-0.439},{41,-27.750,-0.431}}}, {{{35,-25.026,-0.49},{36,-25.504,-0.478},{37,-25.973,-0.469}},{{38,-26.431,-0.458},{39,-26.880,-0.449}}}, {{{33,-24.035,-0.513},{34,-24.536,-0.501}},{{35,-25.026,-0.49},{36,-25.504,-0.478},{37,-25.973,-0.469}}}, {{{32,-23.522,-0.526}},{{33,-24.035,-0.513},{34,-24.536,-0.501}}}, {{{30,-22.458,-0.552},{31,-22.996,-0.538}},{{32,-23.522,-0.526}}}, {{{28,-21.340,-0.58},{29,-21.906,-0.566}},{{30,-22.458,-0.552},{31,-22.996,-0.538}}}, {{{26,-20.166,-0.61},{27,-20.760,-0.594}},{{28,-21.340,-0.58},{29,-21.906,-0.566}}}, {{{25,-19.556,-0.625}},{{26,-20.166,-0.61},{27,-20.760,-0.594}}}, {{{23,-18.289,-0.657},{24,-18.931,-0.642}},{{25,-19.556,-0.625}}}, {{{22,-17.632,-0.673}},{{23,-18.289,-0.657},{24,-18.931,-0.642}}}, {{{20,-16.268,-0.707},{21,-16.959,-0.691}},{{22,-17.632,-0.673}}}, {{{19,-15.561,-0.723}},{{20,-16.268,-0.707},{21,-16.959,-0.691}}}, {{{17,-14.098,-0.757},{18,-14.838,-0.74}},{{19,-15.561,-0.723}}}, {{{16,-13.341,-0.771}},{{17,-14.098,-0.757},{18,-14.838,-0.74}}}, {{{15,-12.570,-0.787}},{{16,-13.341,-0.771}}}, {{{14,-11.783,-0.802}},{{15,-12.570,-0.787}}}, {{{12,-10.166,-0.827},{13,-10.981,-0.815}},{{14,-11.783,-0.802}}}, {{{11,-9.339,-0.837}},{{12,-10.166,-0.827},{13,-10.981,-0.815}}}, {{{10,-8.502,-0.847}},{{11,-9.339,-0.837}}}, {{{9,-7.655,-0.854}},{{10,-8.502,-0.847}}}, {{{8,-6.801,-0.86}},{{9,-7.655,-0.854}}}, {{{6,-5.079,-0.862},{7,-5.941,-0.862}},{{8,-6.801,-0.86}}}, {{{5,-4.217,-0.86}},{{6,-5.079,-0.862},{7,-5.941,-0.862}}}, {{{4,-3.357,-0.855}},{{5,-4.217,-0.86}}}, {{{3,-2.502,-0.846}},{{4,-3.357,-0.855}}}, {{{2,-1.656,-0.835}},{{3,-2.502,-0.846}}}, {{{-1,.804,-0.784},{0,0,-0.804},{1,-.821,-0.821}},{{-2,1.588,-0.717}}}, {{{-2,1.588,-0.717}},{{-3,2.305,-0.781}}}, {{{-3,2.305,-0.781}},{{-5,3.795,-0.68},{-4,3.086,-0.709}}}, {{{-5,3.795,-0.68},{-4,3.086,-0.709}},{{-6,4.475,-0.65}}}, {{{-6,4.475,-0.65}},{{-8,5.742,-0.586},{-7,5.125,-0.617}}}, {{{-8,5.742,-0.586},{-7,5.125,-0.617}},{{-10,6.879,-0.519},{-9,6.328,-0.551}}}, {{{-10,6.879,-0.519},{-9,6.328,-0.551}},{{-12,7.882,-0.452},{-11,7.398,-0.484}}}, {{{-12,7.882,-0.452},{-11,7.398,-0.484}},{{-14,8.754,-0.387},{-13,8.334,-0.42}}}, {{{-14,8.754,-0.387},{-13,8.334,-0.42}},{{-17,9.824,-0.298},{-16,9.497,-0.327},{-15,9.141,-0.356}}}, {{{-17,9.824,-0.298},{-16,9.497,-0.327},{-15,9.141,-0.356}},{{-20,10.635,0},{-19,10.392,-0.243},{-18,10.122,-0.27}}}, {{{-20,10.635,0},{-19,10.392,-0.243},{-18,10.122,-0.27}},{}}}
static

Definition at line 43 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::ShoulderPitchTableMap = {{10.635, 0},{10.392, -0.243},{10.122, -0.27},{9.824, -0.298},{9.497, -0.327},{9.141, -0.356},{8.754, -0.387},{8.334, -0.42},{7.882, -0.452},{7.398, -0.484},{6.879, -0.519},{6.328, -0.551},{5.742, -0.586},{5.125, -0.617},{4.475, -0.65},{3.795, -0.68},{3.086, -0.709},{2.305, -0.781},{1.588, -0.717},{.804, -0.784},{0, -0.804},{-.821, -0.821},{-1.656, -0.835},{-2.502, -0.846},{-3.357, -0.855},{-4.217, -0.86},{-5.079, -0.862},{-5.941, -0.862},{-6.801, -0.86},{-7.655, -0.854},{-8.502, -0.847},{-9.339, -0.837},{-10.166, -0.827},{-10.981, -0.815},{-11.783, -0.802},{-12.570, -0.787},{-13.341, -0.771},{-14.098, -0.757},{-14.838, -0.74},{-15.561, -0.723},{-16.268, -0.707},{-16.959, -0.691},{-17.632, -0.673},{-18.289, -0.657},{-18.931, -0.642},{-19.556, -0.625},{-20.166, -0.61},{-20.760, -0.594},{-21.340, -0.58},{-21.906, -0.566},{-22.458, -0.552},{-22.996, -0.538},{-23.522, -0.526},{-24.035, -0.513},{-24.536, -0.501},{-25.026, -0.49},{-25.504, -0.478},{-25.973, -0.469},{-26.431, -0.458},{-26.880, -0.449},{-27.319, -0.439},{-27.750, -0.431},{-28.172, -0.422},{-28.587, -0.415},{-28.994, -0.407},{-29.394, -0.4},{-29.787, -0.393},{-30.174, -0.387},{-30.555, -0.381},{-30.930, -0.375},{-31.300, -0.37},{-31.665, -0.365},{-32.025, -0.36},{-32.381, -0.356},{-32.733, -0.352},{-33.082, -0.349},{-33.427, -0.345},{-33.768, -0.341},{-34.107, -0.339},{-34.444, -0.337},{-34.778, -0.334},{-35.111, -0.333},{-35.442, -0.331},{-35.771, -0.329},{-36.100, -0.329},{-36.428, -0.328},{-36.756, -0.328},{-37.083, -0.327},{-37.411, -0.328},{-37.740, -0.329},{-38.070, -0.33},{-38.402, -0.332},{-38.735, -0.333},{-39.071, -0.336},{-39.410, -0.339},{-39.753, -0.343},{-40.100, -0.347},{-40.452, -0.352},{-40.809, -0.357},{-41.174, -0.365},{-41.546, -0.372},{-41.928, -0.382},{-42.321, -0.393},{-42.727, -0.406},{-43.150, -0.423},{-43.594, -0.444},{-44.064, -0.47},{-44.574, -0.51},{-45.146, -0.572},{-45.869, -0.723}}
static

Definition at line 42 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::ShoulderRollInvTableCandidates = {{{{0,0,0},{1,.465,0.465},{2,.94,0.475}},{{3,1.422,0.482},{4,1.913,0.491}}}, {{{3,1.422,0.482},{4,1.913,0.491}},{{5,2.411,0.498},{6,2.917,0.506}}}, {{{5,2.411,0.498},{6,2.917,0.506}},{{7,3.429,0.512},{8,3.949,0.52}}}, {{{7,3.429,0.512},{8,3.949,0.52}},{{9,4.475,0.526}}}, {{{9,4.475,0.526}},{{10,5.007,0.532},{11,5.546,0.539}}}, {{{10,5.007,0.532},{11,5.546,0.539}},{{12,6.09,0.544},{13,6.64,0.55}}}, {{{12,6.09,0.544},{13,6.64,0.55}},{{14,7.194,0.554},{15,7.754,0.56}}}, {{{14,7.194,0.554},{15,7.754,0.56}},{{16,8.319,0.565},{17,8.888,0.569}}}, {{{16,8.319,0.565},{17,8.888,0.569}},{{18,9.462,0.574}}}, {{{18,9.462,0.574}},{{19,10.039,0.577},{20,10.62,0.581}}}, {{{19,10.039,0.577},{20,10.62,0.581}},{{21,11.205,0.585},{22,11.793,0.588}}}, {{{21,11.205,0.585},{22,11.793,0.588}},{{23,12.384,0.591},{24,12.978,0.594}}}, {{{23,12.384,0.591},{24,12.978,0.594}},{{25,13.574,0.596}}}, {{{25,13.574,0.596}},{{26,14.173,0.599},{27,14.774,0.601}}}, {{{26,14.173,0.599},{27,14.774,0.601}},{{28,15.377,0.603},{29,15.981,0.604}}}, {{{28,15.377,0.603},{29,15.981,0.604}},{{30,16.587,0.606}}}, {{{30,16.587,0.606}},{{31,17.195,0.608},{32,17.803,0.608}}}, {{{31,17.195,0.608},{32,17.803,0.608}},{{33,18.412,0.609}}}, {{{33,18.412,0.609}},{{34,19.022,0.61},{35,19.633,0.611}}}, {{{34,19.022,0.61},{35,19.633,0.611}},{{36,20.244,0.611},{37,20.855,0.611}}}, {{{36,20.244,0.611},{37,20.855,0.611}},{{38,21.465,0.61}}}, {{{38,21.465,0.61}},{{39,22.076,0.611},{40,22.686,0.61}}}, {{{39,22.076,0.611},{40,22.686,0.61}},{{41,23.295,0.609},{42,23.904,0.609}}}, {{{41,23.295,0.609},{42,23.904,0.609}},{{43,24.512,0.608}}}, {{{43,24.512,0.608}},{{44,25.118,0.606},{45,25.723,0.605}}}, {{{44,25.118,0.606},{45,25.723,0.605}},{{46,26.327,0.604},{47,26.929,0.602}}}, {{{46,26.327,0.604},{47,26.929,0.602}},{{48,27.53,0.601}}}, {{{48,27.53,0.601}},{{49,28.128,0.598},{50,28.724,0.596}}}, {{{49,28.128,0.598},{50,28.724,0.596}},{{51,29.319,0.595},{52,29.91,0.591}}}, {{{51,29.319,0.595},{52,29.91,0.591}},{{53,30.499,0.589}}}, {{{53,30.499,0.589}},{{54,31.086,0.587},{55,31.67,0.584}}}, {{{54,31.086,0.587},{55,31.67,0.584}},{{56,32.251,0.581},{57,32.828,0.577}}}, {{{56,32.251,0.581},{57,32.828,0.577}},{{58,33.403,0.575},{59,33.974,0.571}}}, {{{58,33.403,0.575},{59,33.974,0.571}},{{60,34.542,0.568}}}, {{{60,34.542,0.568}},{{61,35.106,0.564},{62,35.666,0.56}}}, {{{61,35.106,0.564},{62,35.666,0.56}},{{63,36.223,0.557},{64,36.775,0.552}}}, {{{63,36.223,0.557},{64,36.775,0.552}},{{65,37.324,0.549},{66,37.87,0.546}}}, {{{65,37.324,0.549},{66,37.87,0.546}},{{67,38.408,0.538},{68,38.944,0.536}}}, {{{67,38.408,0.538},{68,38.944,0.536}},{{69,39.475,0.531}}}, {{{69,39.475,0.531}},{{70,40.001,0.526},{71,40.523,0.522}}}, {{{70,40.001,0.526},{71,40.523,0.522}},{{72,41.04,0.517},{73,41.552,0.512}}}, {{{72,41.04,0.517},{73,41.552,0.512}},{{74,42.059,0.507},{75,42.561,0.502}}}, {{{74,42.059,0.507},{75,42.561,0.502}},{{76,43.058,0.497},{77,43.549,0.491}}}, {{{76,43.058,0.497},{77,43.549,0.491}},{{78,44.035,0.486},{79,44.516,0.481},{80,44.991,0.475}}}, {{{78,44.035,0.486},{79,44.516,0.481},{80,44.991,0.475}},{{81,45.46,0.469},{82,45.924,0.464}}}, {{{81,45.46,0.469},{82,45.924,0.464}},{{83,46.381,0.457},{84,46.833,0.452}}}, {{{83,46.381,0.457},{84,46.833,0.452}},{{85,47.279,0.446},{86,47.719,0.44}}}, {{{85,47.279,0.446},{86,47.719,0.44}},{{87,48.153,0.434},{88,48.58,0.427}}}, {{{87,48.153,0.434},{88,48.58,0.427}},{{89,49.001,0.421},{90,49.416,0.415}}}, {{{89,49.001,0.421},{90,49.416,0.415}},{}}}
static

Definition at line 41 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::ShoulderRollTableMap = {{0, 0},{.465, 0.465},{.94, 0.475},{1.422, 0.482},{1.913, 0.491},{2.411, 0.498},{2.917, 0.506},{3.429, 0.512},{3.949, 0.52},{4.475, 0.526},{5.007, 0.532},{5.546, 0.539},{6.09, 0.544},{6.64, 0.55},{7.194, 0.554},{7.754, 0.56},{8.319, 0.565},{8.888, 0.569},{9.462, 0.574},{10.039, 0.577},{10.62, 0.581},{11.205, 0.585},{11.793, 0.588},{12.384, 0.591},{12.978, 0.594},{13.574, 0.596},{14.173, 0.599},{14.774, 0.601},{15.377, 0.603},{15.981, 0.604},{16.587, 0.606},{17.195, 0.608},{17.803, 0.608},{18.412, 0.609},{19.022, 0.61},{19.633, 0.611},{20.244, 0.611},{20.855, 0.611},{21.465, 0.61},{22.076, 0.611},{22.686, 0.61},{23.295, 0.609},{23.904, 0.609},{24.512, 0.608},{25.118, 0.606},{25.723, 0.605},{26.327, 0.604},{26.929, 0.602},{27.53, 0.601},{28.128, 0.598},{28.724, 0.596},{29.319, 0.595},{29.91, 0.591},{30.499, 0.589},{31.086, 0.587},{31.67, 0.584},{32.251, 0.581},{32.828, 0.577},{33.403, 0.575},{33.974, 0.571},{34.542, 0.568},{35.106, 0.564},{35.666, 0.56},{36.223, 0.557},{36.775, 0.552},{37.324, 0.549},{37.87, 0.546},{38.408, 0.538},{38.944, 0.536},{39.475, 0.531},{40.001, 0.526},{40.523, 0.522},{41.04, 0.517},{41.552, 0.512},{42.059, 0.507},{42.561, 0.502},{43.058, 0.497},{43.549, 0.491},{44.035, 0.486},{44.516, 0.481},{44.991, 0.475},{45.46, 0.469},{45.924, 0.464},{46.381, 0.457},{46.833, 0.452},{47.279, 0.446},{47.719, 0.44},{48.153, 0.434},{48.58, 0.427},{49.001, 0.421},{49.416, 0.415}}
static

Definition at line 40 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::WaistPitchInvTableCandidates = {{{{-9,-5.23,0}},{}}, {{{-8,-4.721,0.509},{-7,-4.191,0.53}},{{-9,-5.23,0}}}, {{{-6,-3.642,0.549},{-5,-3.074,0.568}},{{-8,-4.721,0.509},{-7,-4.191,0.53}}}, {{{-4,-2.489,0.585}},{{-6,-3.642,0.549},{-5,-3.074,0.568}}}, {{{-3,-1.889,0.6},{-2,-1.273,0.616}},{{-4,-2.489,0.585}}}, {{{-1,-.643,0.63},{0,0,0.643},{1,.656,0.656}},{{2,1.323,0.667}}}, {{{2,1.323,0.667}},{{3,2.00,0.677},{4,2.688,0.688}}}, {{{3,2.00,0.677},{4,2.688,0.688}},{{5,3.386,0.698}}}, {{{5,3.386,0.698}},{{6,4.092,0.706},{7,4.806,0.714}}}, {{{6,4.092,0.706},{7,4.806,0.714}},{{8,5.528,0.722}}}, {{{8,5.528,0.722}},{{9,6.257,0.729},{10,6.993,0.736}}}, {{{9,6.257,0.729},{10,6.993,0.736}},{{11,7.735,0.742}}}, {{{11,7.735,0.742}},{{12,8.483,0.748}}}, {{{12,8.483,0.748}},{{13,9.236,0.753},{14,9.994,0.758}}}, {{{13,9.236,0.753},{14,9.994,0.758}},{{15,10.756,0.762}}}, {{{15,10.756,0.762}},{{16,11.522,0.766}}}, {{{16,11.522,0.766}},{{17,12.293,0.771}}}, {{{17,12.293,0.771}},{{18,13.067,0.774},{19,13.843,0.776}}}, {{{18,13.067,0.774},{19,13.843,0.776}},{{20,14.623,0.78}}}, {{{20,14.623,0.78}},{{21,15.406,0.783}}}, {{{21,15.406,0.783}},{{22,16.19,0.784},{23,16.977,0.787}}}, {{{22,16.19,0.784},{23,16.977,0.787}},{{24,17.766,0.789}}}, {{{24,17.766,0.789}},{{25,18.556,0.79}}}, {{{25,18.556,0.79}},{{26,19.347,0.791}}}, {{{26,19.347,0.791}},{{27,20.14,0.793},{28,20.933,0.793}}}, {{{27,20.14,0.793},{28,20.933,0.793}},{{29,21.727,0.794}}}, {{{29,21.727,0.794}},{{30,22.522,0.795}}}, {{{30,22.522,0.795}},{{31,23.317,0.795}}}, {{{31,23.317,0.795}},{{32,24.113,0.796},{33,24.908,0.795}}}, {{{32,24.113,0.796},{33,24.908,0.795}},{{34,25.703,0.795}}}, {{{34,25.703,0.795}},{{35,26.497,0.794}}}, {{{35,26.497,0.794}},{{36,27.292,0.795}}}, {{{36,27.292,0.795}},{{37,28.085,0.793},{38,28.877,0.792}}}, {{{37,28.085,0.793},{38,28.877,0.792}},{{39,29.668,0.791}}}, {{{39,29.668,0.791}},{}}}
static

Definition at line 33 of file stroke_to_angle.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::WaistRollInvTableCandidates = {{{{-8,-5.605,0}},{}}, {{{-7,-4.959,0.646},{-6,-4.293,0.666}},{{-8,-5.605,0}}}, {{{-5,-3.611,0.682}},{{-7,-4.959,0.646},{-6,-4.293,0.666}}}, {{{-4,-2.913,0.698},{-3,-2.202,0.711}},{{-5,-3.611,0.682}}}, {{{-2,-1.479,0.723}},{{-4,-2.913,0.698},{-3,-2.202,0.711}}}, {{{-1,-.744,0.735},{0,0,0.744},{1,.754,0.754}},{{2,1.517,0.763}}}, {{{2,1.517,0.763}},{{3,2.288,0.771}}}, {{{3,2.288,0.771}},{{4,3.067,0.779},{5,3.853,0.786}}}, {{{4,3.067,0.779},{5,3.853,0.786}},{{6,4.646,0.793}}}, {{{6,4.646,0.793}},{{7,5.446,0.8}}}, {{{7,5.446,0.8}},{{8,6.253,0.807}}}, {{{8,6.253,0.807}},{}}}
static

Definition at line 31 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::WaistRollPitchTableMap1 = {{-5.605,0}, {-4.959,0.646}, {-4.293,0.666}, {-3.611,0.682}, {-2.913,0.698}, {-2.202,0.711}, {-1.479,0.723}, {-.744,0.735}, {0,0.744}, {.754,0.754}, {1.517,0.763}, {2.288,0.771}, {3.067,0.779}, {3.853,0.786}, {4.646,0.793}, {5.446,0.8}, {6.253,0.807}}
static

Definition at line 31 of file angle_to_stroke.h.

const std::vector<std::pair<float, float> > noid::common::WaistRollPitchTableMap2 = {{-5.23,0}, {-4.721,0.509}, {-4.191,0.53}, {-3.642,0.549}, {-3.074,0.568}, {-2.489,0.585}, {-1.889,0.6}, {-1.273,0.616}, {-.643,0.63}, {0,0.643}, {.656,0.656}, {1.323,0.667}, {2.00,0.677}, {2.688,0.688}, {3.386,0.698}, {4.092,0.706}, {4.806,0.714}, {5.528,0.722}, {6.257,0.729}, {6.993,0.736}, {7.735,0.742}, {8.483,0.748}, {9.236,0.753}, {9.994,0.758}, {10.756,0.762}, {11.522,0.766}, {12.293,0.771}, {13.067,0.774}, {13.843,0.776}, {14.623,0.78}, {15.406,0.783}, {16.19,0.784}, {16.977,0.787}, {17.766,0.789}, {18.556,0.79}, {19.347,0.791}, {20.14,0.793}, {20.933,0.793}, {21.727,0.794}, {22.522,0.795}, {23.317,0.795}, {24.113,0.796}, {24.908,0.795}, {25.703,0.795}, {26.497,0.794}, {27.292,0.795}, {28.085,0.793}, {28.877,0.792}, {29.668,0.791}}
static

Definition at line 30 of file angle_to_stroke.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::WristPitchInvTableCandidates = {{{{-10,-1.723,0},{-9,-1.580,0.143},{-8,-1.430,0.15},{-7,-1.273,0.157},{-6,-1.110,0.163}},{}}, {{{-5,-.940,0.17},{-4,-.763,0.177},{-3,-.581,0.182},{-2,-.393,0.188},{-1,-.199,0.194},{0,0,0.199},{1,.391,0.391},{2,.779,0.388}},{{3,1.163,0.384},{4,1.545,0.382},{5,1.923,0.378}}}, {{{3,1.163,0.384},{4,1.545,0.382},{5,1.923,0.378}},{{6,2.299,0.376},{7,2.673,0.374}}}, {{{6,2.299,0.376},{7,2.673,0.374}},{{8,3.045,0.372},{9,3.415,0.37},{10,3.783,0.368}}}, {{{8,3.045,0.372},{9,3.415,0.37},{10,3.783,0.368}},{}}}
static

Definition at line 37 of file stroke_to_angle.h.

const std::vector<std::pair<std::vector<S2AData>, std::vector<S2AData> > > noid::common::WristRollInvTableCandidates = {{{{89,-14.030,-0.116},{90,-14.144,-0.114}},{}}, {{{81,-13.025,-0.137},{82,-13.159,-0.134},{83,-13.291,-0.132},{84,-13.421,-0.13},{85,-13.548,-0.127},{86,-13.673,-0.125},{87,-13.795,-0.122},{88,-13.914,-0.119}},{{89,-14.030,-0.116},{90,-14.144,-0.114}}}, {{{74,-12.024,-0.151},{75,-12.173,-0.149},{76,-12.320,-0.147},{77,-12.465,-0.145},{78,-12.608,-0.143},{79,-12.749,-0.141},{80,-12.888,-0.139}},{{81,-13.025,-0.137},{82,-13.159,-0.134},{83,-13.291,-0.132},{84,-13.421,-0.13},{85,-13.548,-0.127},{86,-13.673,-0.125},{87,-13.795,-0.122},{88,-13.914,-0.119}}}, {{{68,-11.093,-0.16},{69,-11.252,-0.159},{70,-11.410,-0.158},{71,-11.566,-0.156},{72,-11.720,-0.154},{73,-11.873,-0.153}},{{74,-12.024,-0.151},{75,-12.173,-0.149},{76,-12.320,-0.147},{77,-12.465,-0.145},{78,-12.608,-0.143},{79,-12.749,-0.141},{80,-12.888,-0.139}}}, {{{62,-10.112,-0.167},{63,-10.279,-0.167},{64,-10.444,-0.165},{65,-10.608,-0.164},{66,-10.771,-0.163},{67,-10.933,-0.162}},{{68,-11.093,-0.16},{69,-11.252,-0.159},{70,-11.410,-0.158},{71,-11.566,-0.156},{72,-11.720,-0.154},{73,-11.873,-0.153}}}, {{{56,-9.096,-0.172},{57,-9.267,-0.171},{58,-9.438,-0.171},{59,-9.607,-0.169},{60,-9.777,-0.17},{61,-9.945,-0.168}},{{62,-10.112,-0.167},{63,-10.279,-0.167},{64,-10.444,-0.165},{65,-10.608,-0.164},{66,-10.771,-0.163},{67,-10.933,-0.162}}}, {{{50,-8.058,-0.174},{51,-8.232,-0.174},{52,-8.405,-0.173},{53,-8.579,-0.174},{54,-8.751,-0.172},{55,-8.924,-0.173}},{{56,-9.096,-0.172},{57,-9.267,-0.171},{58,-9.438,-0.171},{59,-9.607,-0.169},{60,-9.777,-0.17},{61,-9.945,-0.168}}}, {{{44,-7.012,-0.174},{45,-7.186,-0.174},{46,-7.361,-0.175},{47,-7.535,-0.174},{48,-7.710,-0.175},{49,-7.884,-0.174}},{{50,-8.058,-0.174},{51,-8.232,-0.174},{52,-8.405,-0.173},{53,-8.579,-0.174},{54,-8.751,-0.172},{55,-8.924,-0.173}}}, {{{39,-6.143,-0.173},{40,-6.316,-0.173},{41,-6.490,-0.174},{42,-6.664,-0.174},{43,-6.838,-0.174}},{{44,-7.012,-0.174},{45,-7.186,-0.174},{46,-7.361,-0.175},{47,-7.535,-0.174},{48,-7.710,-0.175},{49,-7.884,-0.174}}}, {{{33,-5.112,-0.17},{34,-5.282,-0.17},{35,-5.453,-0.171},{36,-5.625,-0.172},{37,-5.797,-0.172},{38,-5.970,-0.173}},{{39,-6.143,-0.173},{40,-6.316,-0.173},{41,-6.490,-0.174},{42,-6.664,-0.174},{43,-6.838,-0.174}}}, {{{27,-4.102,-0.166},{28,-4.268,-0.166},{29,-4.435,-0.167},{30,-4.603,-0.168},{31,-4.772,-0.169},{32,-4.942,-0.17}},{{33,-5.112,-0.17},{34,-5.282,-0.17},{35,-5.453,-0.171},{36,-5.625,-0.172},{37,-5.797,-0.172},{38,-5.970,-0.173}}}, {{{21,-3.121,-0.16},{22,-3.282,-0.161},{23,-3.444,-0.162},{24,-3.607,-0.163},{25,-3.771,-0.164},{26,-3.936,-0.165}},{{27,-4.102,-0.166},{28,-4.268,-0.166},{29,-4.435,-0.167},{30,-4.603,-0.168},{31,-4.772,-0.169},{32,-4.942,-0.17}}}, {{{14,-2.022,-0.153},{15,-2.176,-0.154},{16,-2.331,-0.155},{17,-2.487,-0.156},{18,-2.644,-0.157},{19,-2.802,-0.158},{20,-2.961,-0.159}},{{21,-3.121,-0.16},{22,-3.282,-0.161},{23,-3.444,-0.162},{24,-3.607,-0.163},{25,-3.771,-0.164},{26,-3.936,-0.165}}}, {{{8,-1.125,-0.146},{9,-1.271,-0.146},{10,-1.419,-0.148},{11,-1.568,-0.149},{12,-1.718,-0.15},{13,-1.869,-0.151}},{{14,-2.022,-0.153},{15,-2.176,-0.154},{16,-2.331,-0.155},{17,-2.487,-0.156},{18,-2.644,-0.157},{19,-2.802,-0.158},{20,-2.961,-0.159}}}, {{{-7,.911,-0.124},{-6,.785,-0.126},{-5,.658,-0.127},{-4,.529,-0.129},{-3,.399,-0.13},{-2,.267,-0.132},{-1,.134,-0.133},{0,0,-0.134},{1,-.136,-0.136},{2,-.273,-0.137},{3,-.412,-0.139},{4,-.552,-0.14},{5,-.693,-0.141},{6,-.836,-0.143},{7,-.979,-0.143}},{{-16,1.973,-0.11},{-15,1.861,-0.112},{-14,1.748,-0.113},{-13,1.633,-0.115},{-12,1.516,-0.117},{-11,1.398,-0.118},{-10,1.279,-0.119},{-9,1.157,-0.122},{-8,1.035,-0.122}}}, {{{-16,1.973,-0.11},{-15,1.861,-0.112},{-14,1.748,-0.113},{-13,1.633,-0.115},{-12,1.516,-0.117},{-11,1.398,-0.118},{-10,1.279,-0.119},{-9,1.157,-0.122},{-8,1.035,-0.122}},{{-26,2.997,-0.093},{-25,2.903,-0.094},{-24,2.806,-0.097},{-23,2.708,-0.098},{-22,2.608,-0.1},{-21,2.506,-0.102},{-20,2.403,-0.103},{-19,2.298,-0.105},{-18,2.191,-0.107},{-17,2.083,-0.108}}}, {{{-26,2.997,-0.093},{-25,2.903,-0.094},{-24,2.806,-0.097},{-23,2.708,-0.098},{-22,2.608,-0.1},{-21,2.506,-0.102},{-20,2.403,-0.103},{-19,2.298,-0.105},{-18,2.191,-0.107},{-17,2.083,-0.108}},{{-30,3.359,0},{-29,3.271,-0.088},{-28,3.182,-0.089},{-27,3.090,-0.092}}}, {{{-30,3.359,0},{-29,3.271,-0.088},{-28,3.182,-0.089},{-27,3.090,-0.092}},{}}}
static

Definition at line 35 of file stroke_to_angle.h.

const std::vector<std::pair<float, float> > noid::common::WristRollPitchTableMap1 = {{-1.723,0}, {-1.580,0.143}, {-1.430,0.15}, {-1.273,0.157}, {-1.110,0.163}, {-.940,0.17}, {-.763,0.177}, {-.581,0.182}, {-.393,0.188}, {-.199,0.194}, {0,0.199}, {.391,0.391}, {.779,0.388}, {1.163,0.384}, {1.545,0.382}, {1.923,0.378}, {2.299,0.376}, {2.673,0.374}, {3.045,0.372}, {3.415,0.37}, {3.783,0.368}}
static

Definition at line 35 of file angle_to_stroke.h.

const std::vector<std::pair<float, float> > noid::common::WristRollPitchTableMap2 = {{3.359,0}, {3.271,-0.088}, {3.182,-0.089}, {3.090,-0.092}, {2.997,-0.093}, {2.903,-0.094}, {2.806,-0.097}, {2.708,-0.098}, {2.608,-0.1}, {2.506,-0.102}, {2.403,-0.103}, {2.298,-0.105}, {2.191,-0.107}, {2.083,-0.108}, {1.973,-0.11}, {1.861,-0.112}, {1.748,-0.113}, {1.633,-0.115}, {1.516,-0.117}, {1.398,-0.118}, {1.279,-0.119}, {1.157,-0.122}, {1.035,-0.122}, {.911,-0.124}, {.785,-0.126}, {.658,-0.127}, {.529,-0.129}, {.399,-0.13}, {.267,-0.132}, {.134,-0.133}, {0,-0.134}, {-.136,-0.136}, {-.273,-0.137}, {-.412,-0.139}, {-.552,-0.14}, {-.693,-0.141}, {-.836,-0.143}, {-.979,-0.143}, {-1.125,-0.146}, {-1.271,-0.146}, {-1.419,-0.148}, {-1.568,-0.149}, {-1.718,-0.15}, {-1.869,-0.151}, {-2.022,-0.153}, {-2.176,-0.154}, {-2.331,-0.155}, {-2.487,-0.156}, {-2.644,-0.157}, {-2.802,-0.158}, {-2.961,-0.159}, {-3.121,-0.16}, {-3.282,-0.161}, {-3.444,-0.162}, {-3.607,-0.163}, {-3.771,-0.164}, {-3.936,-0.165}, {-4.102,-0.166}, {-4.268,-0.166}, {-4.435,-0.167}, {-4.603,-0.168}, {-4.772,-0.169}, {-4.942,-0.17}, {-5.112,-0.17}, {-5.282,-0.17}, {-5.453,-0.171}, {-5.625,-0.172}, {-5.797,-0.172}, {-5.970,-0.173}, {-6.143,-0.173}, {-6.316,-0.173}, {-6.490,-0.174}, {-6.664,-0.174}, {-6.838,-0.174}, {-7.012,-0.174}, {-7.186,-0.174}, {-7.361,-0.175}, {-7.535,-0.174}, {-7.710,-0.175}, {-7.884,-0.174}, {-8.058,-0.174}, {-8.232,-0.174}, {-8.405,-0.173}, {-8.579,-0.174}, {-8.751,-0.172}, {-8.924,-0.173}, {-9.096,-0.172}, {-9.267,-0.171}, {-9.438,-0.171}, {-9.607,-0.169}, {-9.777,-0.17}, {-9.945,-0.168}, {-10.112,-0.167}, {-10.279,-0.167}, {-10.444,-0.165}, {-10.608,-0.164}, {-10.771,-0.163}, {-10.933,-0.162}, {-11.093,-0.16}, {-11.252,-0.159}, {-11.410,-0.158}, {-11.566,-0.156}, {-11.720,-0.154}, {-11.873,-0.153}, {-12.024,-0.151}, {-12.173,-0.149}, {-12.320,-0.147}, {-12.465,-0.145}, {-12.608,-0.143}, {-12.749,-0.141}, {-12.888,-0.139}, {-13.025,-0.137}, {-13.159,-0.134}, {-13.291,-0.132}, {-13.421,-0.13}, {-13.548,-0.127}, {-13.673,-0.125}, {-13.795,-0.122}, {-13.914,-0.119}, {-14.030,-0.116}, {-14.144,-0.114}}
static

Definition at line 34 of file angle_to_stroke.h.


noid_robot_interface
Author(s):
autogenerated on Sat Jul 20 2019 03:44:26