#include <math.h>
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Macros | |
| #define | deg2rad(x) ((x)*M_PI/180) |
| #define | LPF(dT, omega, x, y) ((y) = (((dT)*(omega)/(1+(dT)*(omega)))*(x)+1/(1+(dT)*(omega))*(y))) |
| #define | rad2deg(x) ((x)*180/M_PI) |
| #define | sgn(x) (((x)>0)?1:-1) |
| #define | sqr(x) ((x)*(x)) |
Enumerations | |
| enum | { INSIDE, OUTSIDE } |
| enum | { RL, FB } |
| enum | { RLEG, LLEG } |
| enum | { FX, FY, FZ, MX, MY, MZ } |
| enum | { X, Y, Z } |
| enum | { WX, WY, WZ } |
| enum | { TOE, HEEL } |
Functions | |
| template<class T > | |
| void | DEADZONE (T &org, const T &min_, const T &max_) |
| void | DEADZONE (double &org, const double min_, const double max_) |
| void | HYSTERESIS (double &newv, const double old, const double min_, const double max_) |
| void | LIMIT (double &org, const double max_) |
| template<class T > | |
| void | LIMITER (T &org, const T &min_, const T &max_) |
| void | LIMITER (double &org, const double min_, const double max_) |
| void | LIMITER (int &org, const int min_, const int max_) |