Submitted version of the thesis - Airlab, the Artificial Intelligence ...

110 Appendix B. Documentation of the programming
}
140.5637 }, { 0.0037, -0.9334, -0.3587,
203.8752 }, { 0, 0, 0, 1.0000 } };
double inv_T[4][4] = { 0, 0, 0, 0 };
Matrix_Mult(T_wr, T_wc, inv_T);
vectorByMatrix4x1(inv_T, Pc, result);
————–Motion.h.——————
/*
* Motion.h
*
* Created on: Jan 19, 2011
* Author: Administrator
*/
#ifndef MOTION_H_
#define MOTION_H_
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Module private variables --------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
void Triskar(s16* destination, s8 omega, s16* vt);
void Direct_Motion(s16* destination, s8 angle, s16* speed);
#endif /* MOTION_H_ */
————–Motion.c.——————
/* Standard include ----------------------------------------------------------*/
#include "91x_map.h"
#include "utils.h"
#include "definitions.h"
#include "definitionsLib.h"
#include "usb_lib.h"
#include "usb_conf.h"
#include "usb_prop.h"
#include "usb_pwr.h"
#include "usb_config.h"