/* 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 of the robot from the angle of the 3 beacons */
int8_t angles_to_posxy(point_t *pos, double a01, double a12, double a20);