First commit

2012-simulation/ik-visualiser-vs/Hexapod app/InverseKinemetics.h

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+#ifndef INVERSEKINEMETICS
+#define INVERSEKINEMETICS
+
+#include <math.h>
+#include <D3DX9.h>
+#include "DataLine.h"
+
+class InverseKinemetics
+{
+public:
+	bool error;
+	int l1;
+	int l2;
+
+	InverseKinemetics()
+	{
+		error = 0;
+		l1 = 10;
+		l2 = 15;
+	}
+
+	int degrees( float I )
+	{
+		return I * ( 180 / 3.14 );
+	}
+
+	void RL3 (Data *DataLine);
+
+	float O1 (Data *DataLine);
+
+	float T1 (Data *DataLine);
+
+	float T3 (Data *DataLine);
+
+	void setleg (bool Side, Data *DataLine);
+
+};
+
+#endif