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00024 extern int genhexSetParams(PmCartesian const base[], const PmCartesian platform[]);
00025 extern int genhexGetParams(PmCartesian base[], PmCartesian platform[]);
00026
00027 #define MINI_TETRA
00028
00029 #define NUM_STRUTS 6
00030
00031 #ifdef INGERSOLL_HEXAPOD
00032
00033
00034
00035 #define BASE_0_X 1.7580
00036 #define BASE_1_X 1.6021
00037 #define BASE_2_X -1.7580
00038 #define BASE_3_X -1.6021
00039 #define BASE_4_X 0.0
00040 #define BASE_5_X 0.0
00041
00042 #define BASE_0_Y 2.8
00043 #define BASE_1_Y 3.07
00044 #define BASE_2_Y 2.8
00045 #define BASE_3_Y 3.07
00046 #define BASE_4_Y 2.8
00047 #define BASE_5_Y 3.07
00048
00049 #define BASE_0_Z -1.015
00050 #define BASE_1_Z -0.925
00051 #define BASE_2_Z -1.015
00052 #define BASE_3_Z -0.925
00053 #define BASE_4_Z 2.03
00054 #define BASE_5_Z 1.85
00055
00056
00057
00058 #define PLATFORM_0_X 0.225
00059 #define PLATFORM_1_X 0.1125
00060 #define PLATFORM_2_X -0.1125
00061 #define PLATFORM_3_X -0.225
00062 #define PLATFORM_4_X -0.1125
00063 #define PLATFORM_5_X 0.1125
00064
00065 #define PLATFORM_0_Y 0.0
00066 #define PLATFORM_1_Y 0.1949
00067 #define PLATFORM_2_Y 0.1949
00068 #define PLATFORM_3_Y 0.0
00069 #define PLATFORM_4_Y -0.1949
00070 #define PLATFORM_5_Y -0.1949
00071
00072 #define PLATFORM_0_Z -0.228
00073 #define PLATFORM_1_Z -0.228
00074 #define PLATFORM_2_Z -0.228
00075 #define PLATFORM_3_Z -0.228
00076 #define PLATFORM_4_Z -0.228
00077 #define PLATFORM_5_Z -0.228
00078
00079 #endif
00080
00081 #ifdef UF_HEXAPOD
00082
00083
00084
00085 #define BASE_0_X -16.00
00086 #define BASE_1_X -10.00
00087 #define BASE_2_X 16.00
00088 #define BASE_3_X 13.00
00089 #define BASE_4_X 0.00
00090 #define BASE_5_X -3.00
00091
00092 #define BASE_0_Y -9.24
00093 #define BASE_1_Y -9.24
00094 #define BASE_2_Y -9.24
00095 #define BASE_3_Y -4.04
00096 #define BASE_4_Y 18.48
00097 #define BASE_5_Y 13.28
00098
00099 #define BASE_0_Z 18.00
00100 #define BASE_1_Z 18.00
00101 #define BASE_2_Z 18.00
00102 #define BASE_3_Z 18.00
00103 #define BASE_4_Z 18.00
00104 #define BASE_5_Z 18.00
00105
00106
00107
00108 #define PLATFORM_0_X -9.00
00109 #define PLATFORM_1_X 0.00
00110 #define PLATFORM_2_X 3.00
00111 #define PLATFORM_3_X 12.00
00112 #define PLATFORM_4_X 6.00
00113 #define PLATFORM_5_X -12.00
00114
00115 #define PLATFORM_0_Y 1.73
00116 #define PLATFORM_1_Y -13.86
00117 #define PLATFORM_2_Y -8.66
00118 #define PLATFORM_3_Y 6.93
00119 #define PLATFORM_4_Y 6.93
00120 #define PLATFORM_5_Y 6.93
00121
00122 #define PLATFORM_0_Z 0.00
00123 #define PLATFORM_1_Z 0.00
00124 #define PLATFORM_2_Z 0.00
00125 #define PLATFORM_3_Z 0.00
00126 #define PLATFORM_4_Z 0.00
00127 #define PLATFORM_5_Z 0.00
00128
00129 #endif
00130
00131 #ifdef MINI_TETRA
00132
00133
00134
00135 #define BASE_0_X -22.950
00136 #define BASE_0_Y 13.250
00137
00138 #define BASE_1_X 22.950
00139 #define BASE_1_Y 13.250
00140
00141 #define BASE_2_X 22.950
00142 #define BASE_2_Y 13.250
00143
00144 #define BASE_3_X 0
00145 #define BASE_3_Y -26.5
00146
00147 #define BASE_4_X 0
00148 #define BASE_4_Y -26.5
00149
00150 #define BASE_5_X -22.950
00151 #define BASE_5_Y 13.250
00152
00153 #define BASE_0_Z 0
00154 #define BASE_1_Z 0
00155 #define BASE_2_Z 0
00156 #define BASE_3_Z 0
00157 #define BASE_4_Z 0
00158 #define BASE_5_Z 0
00159
00160
00161
00162 #define PLATFORM_0_X -1
00163 #define PLATFORM_0_Y 11.5
00164
00165 #define PLATFORM_1_X 1
00166 #define PLATFORM_1_Y 11.5
00167
00168 #define PLATFORM_2_X 10.459
00169 #define PLATFORM_2_Y -4.884
00170
00171 #define PLATFORM_3_X 9.459
00172 #define PLATFORM_3_Y -6.616
00173
00174 #define PLATFORM_4_X -9.459
00175 #define PLATFORM_4_Y -6.616
00176
00177 #define PLATFORM_5_X -10.459
00178 #define PLATFORM_5_Y -4.884
00179
00180 #define PLATFORM_0_Z 0
00181 #define PLATFORM_1_Z 0
00182 #define PLATFORM_2_Z 0
00183 #define PLATFORM_3_Z 0
00184 #define PLATFORM_4_Z 0
00185 #define PLATFORM_5_Z 0
00186
00187 #endif
00188
00189 #ifdef OCTA_TETRA
00190
00191
00192
00193
00194 #define BASE_0_X -19.5
00195 #define BASE_0_Y 11.258
00196
00197 #define BASE_1_X 19.5
00198 #define BASE_1_Y 11.258
00199
00200 #define BASE_2_X 19.5
00201 #define BASE_2_Y 11.258
00202
00203 #define BASE_3_X 0
00204 #define BASE_3_Y -22.517
00205
00206 #define BASE_4_X 0
00207 #define BASE_4_Y -22.517
00208
00209 #define BASE_5_X -19.5
00210 #define BASE_5_Y 11.258
00211
00212 #define BASE_0_Z 0
00213 #define BASE_1_Z 0
00214 #define BASE_2_Z 0
00215 #define BASE_3_Z 0
00216 #define BASE_4_Z 0
00217 #define BASE_5_Z 0
00218
00219
00220
00221 #define PLATFORM_0_X -1
00222 #define PLATFORM_0_Y 11.5
00223
00224 #define PLATFORM_1_X 1
00225 #define PLATFORM_1_Y 11.5
00226
00227 #define PLATFORM_2_X 10.459
00228 #define PLATFORM_2_Y -4.884
00229
00230 #define PLATFORM_3_X 9.459
00231 #define PLATFORM_3_Y -6.616
00232
00233 #define PLATFORM_4_X -9.459
00234 #define PLATFORM_4_Y -6.616
00235
00236 #define PLATFORM_5_X -10.459
00237 #define PLATFORM_5_Y -4.884
00238
00239 #define PLATFORM_0_Z 0
00240 #define PLATFORM_1_Z 0
00241 #define PLATFORM_2_Z 0
00242 #define PLATFORM_3_Z 0
00243 #define PLATFORM_4_Z 0
00244 #define PLATFORM_5_Z 0
00245
00246 #endif
00247
00248 #ifdef GEN_TETRA
00249
00250
00251
00252
00253
00254
00255
00256 #define BASE_LENGTH 40.0
00257 #define BASE_CORNER 1.75
00258 #define PLATFORM_LENGTH 18.9
00259 #define PLATFORM_CORNER 0.5
00260 #define Q 0.2886751346
00261
00262 #define BASE_0_X (0.5 * BASE_CORNER)
00263 #define BASE_0_Y (Q * (2.0 * BASE_LENGTH + BASE_CORNER))
00264
00265 #define BASE_1_X (0.5 * (BASE_LENGTH + BASE_CORNER))
00266 #define BASE_1_Y (Q * (BASE_CORNER - BASE_LENGTH))
00267
00268 #define BASE_2_X (0.5 * BASE_LENGTH)
00269 #define BASE_2_Y (-Q * (BASE_LENGTH + 2.0 * BASE_CORNER))
00270
00271 #define BASE_3_X -BASE_2_X
00272 #define BASE_3_Y BASE_2_Y
00273
00274 #define BASE_4_X -BASE_1_X
00275 #define BASE_4_Y BASE_1_Y
00276
00277 #define BASE_5_X -BASE_0_X
00278 #define BASE_5_Y BASE_0_Y
00279
00280 #define BASE_0_Z 0
00281 #define BASE_1_Z 0
00282 #define BASE_2_Z 0
00283 #define BASE_3_Z 0
00284 #define BASE_4_Z 0
00285 #define BASE_5_Z 0
00286
00287
00288
00289 #define PLATFORM_0_X (0.5 * PLATFORM_LENGTH)
00290 #define PLATFORM_0_Y (Q * (PLATFORM_LENGTH + 2.0 * PLATFORM_CORNER))
00291
00292 #define PLATFORM_1_X (0.5 * (PLATFORM_LENGTH + PLATFORM_CORNER))
00293 #define PLATFORM_1_Y (Q * (PLATFORM_LENGTH - PLATFORM_CORNER))
00294
00295 #define PLATFORM_2_X (0.5 * PLATFORM_CORNER)
00296 #define PLATFORM_2_Y (-Q * (2.0 * PLATFORM_LENGTH + PLATFORM_CORNER))
00297
00298 #define PLATFORM_3_X -PLATFORM_2_X
00299 #define PLATFORM_3_Y PLATFORM_2_Y
00300
00301 #define PLATFORM_4_X -PLATFORM_1_X
00302 #define PLATFORM_4_Y PLATFORM_1_Y
00303
00304 #define PLATFORM_5_X -PLATFORM_0_X
00305 #define PLATFORM_5_Y PLATFORM_0_Y
00306
00307 #define PLATFORM_0_Z 0
00308 #define PLATFORM_1_Z 0
00309 #define PLATFORM_2_Z 0
00310 #define PLATFORM_3_Z 0
00311 #define PLATFORM_4_Z 0
00312 #define PLATFORM_5_Z 0
00313
00314 #endif