Cardboard Robot SDK
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CBArmPosition.h
1 /*=========================================================================
2  This file is part of the Cardboard Robot SDK.
3 
4  Copyright (C) 2012 Ken Ihara.
5 
6  This program is free software: you can redistribute it and/or modify
7  it under the terms of the GNU General Public License as published by
8  the Free Software Foundation, either version 3 of the License, or
9  (at your option) any later version.
10 
11  This program is distributed in the hope that it will be useful,
12  but WITHOUT ANY WARRANTY; without even the implied warranty of
13  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  GNU General Public License for more details.
15 
16  You should have received a copy of the GNU General Public License
17  along with this program. If not, see <http://www.gnu.org/licenses/>.
18 =========================================================================*/
19 
20 #import <Foundation/Foundation.h>
21 
22 @class CBRobot;
23 @protocol CBVector;
24 
28 @interface CBArmPosition : NSObject
29 
31 @property (readonly, nonatomic) id <CBVector> tipPosition;
32 
34 @property (readonly, nonatomic) double m4;
35 
36 - (id)initWithTipPosition:(id <CBVector>)tipPos andM4:(double)m4Pos;
37 - (id)initWithM1:(double)m1Pos andM2:(double)m2Pos andM3:(double)m3Pos andM4:(double)m4Pos;
38 
39 + (CBArmPosition *)armPositionWithTipPosition:(id <CBVector>)tipPos andM4:(double)m4Pos;
40 + (CBArmPosition *)armPositionWithM1:(double)m1Pos andM2:(double)m2Pos andM3:(double)m3Pos andM4:(double)m4Pos;
41 + (CBArmPosition *)zero;
42 
43 - (NSString *)description;
44 
45 @end