24 #ifndef PLUGINS_KATANA_CONVERSION_H_
25 #define PLUGINS_KATANA_CONVERSION_H_
27 #include <common/MathHelperFunctions.h>
28 #include <utils/math/angle.h>
31 using namespace KNI_MHF;
40 radToEnc(std::vector<float> &rad, std::vector<int> &enc)
44 enc.push_back(rad2enc(rad[0],
deg2rad(6.65f), 51200, 31000, 1));
45 enc.push_back(rad2enc(rad[1],
deg2rad(124.25f), 94976, -31000, 1));
46 enc.push_back(rad2enc(rad[2],
deg2rad(52.70f), 81408, -31000, -1));
47 enc.push_back(rad2enc(rad[3],
deg2rad(63.50f), 51200, 31000, 1));
48 enc.push_back(rad2enc(rad[4],
deg2rad(8.50f), 51200, 31000, 1));
56 encToRad(std::vector<int> &enc, std::vector<float> &rad)
60 rad.push_back(enc2rad(enc[0],
deg2rad(6.65f), 51200, 31000, 1));
61 rad.push_back(enc2rad(enc[1],
deg2rad(124.25f), 94976, -31000, 1));
62 rad.push_back(enc2rad(enc[2],
deg2rad(52.70f), 81408, -31000, -1));
63 rad.push_back(enc2rad(enc[3],
deg2rad(63.50f), 51200, 31000, 1));
64 rad.push_back(enc2rad(enc[4],
deg2rad(8.50f), 51200, 31000, 1));