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WalkMotionModel.h

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00001 #ifndef _WALK_MOTION_MODEL_H_
00002 #define _WALK_MOTION_MODEL_H_
00003 
00004 
00005 #ifdef __cplusplus
00006 extern "C" {
00007 #endif
00008 
00009 /* An ad-hoc motion model for the AIBO's walking motion as supplied by the
00010  * RoboSoccer team. dx, dy, and da are the velocities sent to the WalkMC
00011  * object and time is the duration of time (in milliseconds) that they
00012  * were executed. x, y, and theta describe the current position of the
00013  * AIBO and will be changed to reflect the AIBO's position after the move.
00014  * If you wish to compute relative changes in motion, simply point these
00015  * to variables you've set to 0. */
00016 void WalkMotionModel(double *x, double *y, double *theta,
00017          double dx, double dy, double da, unsigned int time);
00018 #ifdef __cplusplus
00019 }
00020 #endif
00021 #endif

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