X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fbeacon_tsop%2Ftrigo.h;h=8ac82f8f89cb8698ce19ea8d576c471ca045b856;hp=1c3178f5ea5e41d4db1541736cee492e72eae460;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/tests/beacon_tsop/trigo.h b/projects/microb2010/tests/beacon_tsop/trigo.h
index 1c3178f..8ac82f8 100644
--- a/projects/microb2010/tests/beacon_tsop/trigo.h
+++ b/projects/microb2010/tests/beacon_tsop/trigo.h
@@ -18,5 +18,16 @@
  *  Olivier MATZ <zer0@droids-corp.org>
  */
 
+extern const point_t beacon0;
+extern const point_t beacon1;
+extern const point_t beacon2;
+
 /* get the position of the robot from the angle of the 3 beacons */
 int8_t angles_to_posxy(point_t *pos, double a01, double a12, double a20);
+
+/* get the position and angle of the robot from the angle of the 2
+ * beacons, and the distance of 2 beacons */
+int8_t ad_to_posxya(point_t *pos, double *a, int algo,
+		    const point_t *b0, const point_t *b1, /* beacon position */
+		    double a0, double a1, /* seen angle of beacons */
+		    double d0, double d1 /* distance to beacons */ );