X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=modules%2Fdevices%2Frobot%2Ftrajectory_manager%2Ftrajectory_manager.h;h=6e7e82e06d01ed88bde8fcd2a74ef3b6081b2d75;hp=43730ead7627aaa9ffc1fd7ed36fe9a3df39d79f;hb=b14123cac428083a50e2d0871514018810a779e5;hpb=48ea32b5f2e7e3eba76955e458066eac050ce965

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.h b/modules/devices/robot/trajectory_manager/trajectory_manager.h
index 43730ea..6e7e82e 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.h
@@ -197,6 +197,15 @@ void trajectory_goto_xy_rel(struct trajectory *traj, double x_rel_mm, double y_r
 void trajectory_circle_rel(struct trajectory *traj, double x, double y,
 			   double radius_mm, double rel_a_deg, uint8_t flags);
 
+/*
+ * Compute the fastest distance and angle speeds matching the radius
+ * from current traj_speed
+ */
+void circle_get_da_speed_from_radius(struct trajectory *traj,
+				     double radius_mm,
+				     double *speed_d,
+				     double *speed_a);
+
 /* do a line */
 void trajectory_line_abs(struct trajectory *traj, double x1, double y1,
 			 double x2, double y2, double advance);