Publish a4

1 files changed, 30 insertions, 0 deletions

diff --git a/dev/a4-dance/rotation_bounds.h b/dev/a4-dance/rotation_bounds.h
new file mode 100644
index 0000000..7eee344
--- /dev/null
+++ b/dev/a4-dance/rotation_bounds.h
@@ -0,0 +1,30 @@
+#ifndef ROTATION_BOUNDS_H_
+#define ROTATION_BOUNDS_H_
+
+/** This class just provides a data structure to store information about how each bone can move,
+    including whehter it can rotate in the x, y, and z directions (some joints support rotation
+    along all axes, others are just 1-dimensional) and the min and max angles of rotation for
+    each axis */
+class RotationBounds {
+public:
+    RotationBounds();
+
+    void setdof(bool rx, bool ry, bool rz);
+
+    void setR(int index, float min, float max);
+
+    bool dofRX;
+    bool dofRY;
+    bool dofRZ;
+
+    int dofs;
+
+    float minRX;
+    float maxRX;
+    float minRY;
+    float maxRY;
+    float minRZ;
+    float maxRZ;
+};
+
+#endif