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emulab
emulabstable
Commits
70955793
Commit
70955793
authored
Dec 14, 2004
by
Daniel Flickinger
Browse files
Filled in position transformation functions for RMCD
parent
ed054099
Changes
1
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Inline
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robots/rmcd/rmcd.c
View file @
70955793
/* Robot Master Control Daemon
*
* Dan Flickinger
*
*
***
*
* RMCD will immediately try to connect to EMCD, get configuration data,
* and then open connections to all robots as sent by EMCD. RMCD only heeds
...
...
@@ 21,7 +21,7 @@
*
*
* 2004/12/01
* 2004/12/
07
* 2004/12/
14
*/
#include <stdio.h>
...
...
@@ 197,7 +197,12 @@ static void conv_a2r(struct position *rel,
assert
(
abs_start
!=
NULL
);
assert
(
abs_finish
!=
NULL
);
*
rel
=
*
abs_finish
;
// XXX DAN, fill this out.
rel
>
x
=
abs_finish
>
x

abs_start
>
x
;
rel
>
y
=
abs_finish
>
y

abs_start
>
y
;
rel
>
theta
=
abs_finish
>
theta

abs_start
>
theta
;
rel
>
timestamp
=
abs_finish
>
timestamp
;
//*rel = *abs_finish; // XXX DAN, fill this out.
}
/**
...
...
@@ 216,7 +221,12 @@ static void conv_r2a(struct position *abs_finish,
assert
(
abs_start
!=
NULL
);
assert
(
abs_finish
!=
NULL
);
*
abs_finish
=
*
rel
;
// XXX DAN, fill this out.
abs_finish
>
x
=
abs_start
>
x
+
rel
>
x
;
abs_finish
>
y
=
abs_start
>
y
+
rel
>
y
;
abs_finish
>
theta
=
abs_start
>
theta
+
rel
>
theta
;
abs_finish
>
timestamp
=
rel
>
timestamp
;
//*abs_finish = *rel; // XXX DAN, fill this out.
}
/**
...
...
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