Create Solver.h

Author: kossle

U201215695/Solver.h

@@ -0,0 +1,19 @@
+#ifndef _SOLVER_H_
+#define _SOLVER_H_ 
+#include<math.h>
+#include"Point.h"
+#include"Frame.h"
+
+class Solver{
+	private:
+		Point SolverResult;
+	public:
+		Solver();
+		Point PositiveKinematics(double L1,double L2,Point Angles);
+		Point NegativeKinematics(double L1,double L2,Point point);
+		Point FrameToWF(WorldFrame frame,Point AimPoint);
+		Point FrameToWF(JointFrame frame,Point AimPoint);
+		Point FrameToWF(TaskFrame frame,Point AimPoint);
+		
+	};
+#endif