X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fbeacon_tsop%2Ftrigo.h;fp=projects%2Fmicrob2010%2Ftests%2Fbeacon_tsop%2Ftrigo.h;h=1c3178f5ea5e41d4db1541736cee492e72eae460;hp=0000000000000000000000000000000000000000;hb=a56bf7c398eb727f67ed0843c6ebef948cc0dd61;hpb=5df6410920a141733e2a79689621cd955c242499

diff --git a/projects/microb2010/tests/beacon_tsop/trigo.h b/projects/microb2010/tests/beacon_tsop/trigo.h
new file mode 100644
index 0000000..1c3178f
--- /dev/null
+++ b/projects/microb2010/tests/beacon_tsop/trigo.h
@@ -0,0 +1,22 @@
+/*
+ *  Copyright Droids Corporation (2010)
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Olivier MATZ <zer0@droids-corp.org>
+ */
+
+/* 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);