AngularMatrixLookup.h

/***
 * @file AngularMatrixLookup.h
 * @brief Prebuilt lookup table to find cartesian coordinates of end effector based on leg angles
 * @author Kyle Machulis (kyle@nonpolynomial.com)
 * @copyright (c) 2007-2009 Nonpolynomial Labs/Kyle Machulis
 * @license BSD License
 *
 * Project info at http://libnifalcon.nonpolynomial.com/
 *
 */

#ifndef ANGULARMATRIXLOOKUP_H
#define ANGULARMATRIXLOOKUP_H

namespace libnifalcon {
	const static float stamper_lookup_matrix[16][16][16][3] =
	{
		{{{0.f,0.f,0.071875f},
		  {0.003125f,0.003125f,0.075f},
		  {0.009375f,0.00625f,0.075f},
		  {0.0125f,0.0125f,0.075f},
		  {0.015625f,0.015625f,0.078125f},
		  {0.021875f,0.01875f,0.078125f},
		  {0.028125f,0.021875f,0.078125f},
		  {0.034375f,0.028125f,0.078125f},
		  {0.040625f,0.034375f,0.075f},
		  {0.04375f,0.040625f,0.075f},
		  {0.05f,0.046875f,0.071875f},
		  {0.05625f,0.053125f,0.06875f},
		  {0.0625f,0.059375f,0.0625f},
		  {0.06875f,0.0625f,0.053125f},
		  {0.071875f,0.065625f,0.05f},
		  {0.f,0.f,0.f}},
		 {{-0.003125f,0.f,0.075f},
		  {0.f,0.00625f,0.075f},
		  {0.003125f,0.009375f,0.078125f},
		  {0.009375f,0.0125f,0.078125f},
		  {0.0125f,0.015625f,0.08125f},
		  {0.01875f,0.01875f,0.08125f},
		  {0.025f,0.025f,0.08125f},
		  {0.028125f,0.03125f,0.08125f},
		  {0.034375f,0.0375f,0.08125f},
		  {0.040625f,0.04375f,0.078125f},
		  {0.046875f,0.05f,0.075f},
		  {0.053125f,0.05625f,0.06875f},
		  {0.059375f,0.0625f,0.0625f},
		  {0.065625f,0.065625f,0.059375f},
		  {0.071875f,0.06875f,0.05f},
		  {0.f,0.f,0.f}},
		 {{-0.00625f,0.003125f,0.075f},
		  {-0.003125f,0.00625f,0.078125f},
		  {0.f,0.0125f,0.078125f},
		  {0.00625f,0.0125f,0.08125f},
		  {0.009375f,0.01875f,0.08125f},
		  {0.0125f,0.025f,0.08125f},
		  {0.01875f,0.028125f,0.084375f},
		  {0.025f,0.034375f,0.084375f},
		  {0.03125f,0.040625f,0.08125f},
		  {0.0375f,0.046875f,0.078125f},
		  {0.04375f,0.053125f,0.075f},
		  {0.053125f,0.05625f,0.071875f},
		  {0.059375f,0.0625f,0.065625f},
		  {0.065625f,0.06875f,0.059375f},
		  {0.071875f,0.071875f,0.05f},
		  {0.f,0.f,0.f}},
		 {{-0.0125f,0.003125f,0.078125f},
		  {-0.009375f,0.009375f,0.078125f},
		  {-0.00625f,0.0125f,0.08125f},
		  {-0.003125f,0.015625f,0.084375f},
		  {0.003125f,0.021875f,0.084375f},
		  {0.009375f,0.025f,0.084375f},
		  {0.0125f,0.03125f,0.0875f},
		  {0.01875f,0.0375f,0.0875f},
		  {0.025f,0.04375f,0.084375f},
		  {0.034375f,0.046875f,0.084375f},
		  {0.040625f,0.053125f,0.08125f},
		  {0.046875f,0.059375f,0.078125f},
		  {0.05625f,0.065625f,0.06875f},
		  {0.0625f,0.071875f,0.0625f},
		  {0.06875f,0.075f,0.053125f},
		  {0.071875f,0.075f,0.05f}},
		 {{-0.015625f,0.00625f,0.078125f},
		  {-0.0125f,0.009375f,0.08125f},
		  {-0.009375f,0.015625f,0.08125f},
		  {-0.00625f,0.01875f,0.084375f},
		  {0.f,0.021875f,0.0875f},
		  {0.003125f,0.028125f,0.0875f},
		  {0.009375f,0.034375f,0.0875f},
		  {0.015625f,0.0375f,0.090625f},
		  {0.021875f,0.04375f,0.0875f},
		  {0.028125f,0.05f,0.0875f},
		  {0.034375f,0.059375f,0.08125f},
		  {0.04375f,0.0625f,0.08125f},
		  {0.05f,0.06875f,0.075f},
		  {0.059375f,0.071875f,0.065625f},
		  {0.065625f,0.078125f,0.05625f},
		  {0.071875f,0.078125f,0.05f}},
		 {{-0.021875f,0.009375f,0.078125f},
		  {-0.01875f,0.0125f,0.08125f},
		  {-0.015625f,0.015625f,0.084375f},
		  {-0.0125f,0.021875f,0.084375f},
		  {-0.009375f,0.025f,0.090625f},
		  {-0.003125f,0.03125f,0.0875f},
		  {0.003125f,0.034375f,0.090625f},
		  {0.009375f,0.040625f,0.09375f},
		  {0.015625f,0.046875f,0.090625f},
		  {0.021875f,0.053125f,0.090625f},
		  {0.03125f,0.059375f,0.0875f},
		  {0.0375f,0.065625f,0.084375f},
		  {0.046875f,0.071875f,0.078125f},
		  {0.05625f,0.075f,0.06875f},
		  {0.065625f,0.078125f,0.059375f},
		  {0.071875f,0.08125f,0.05f}},
		 {{-0.028125f,0.0125f,0.078125f},
		  {-0.025f,0.015625f,0.08125f},
		  {-0.021875f,0.01875f,0.084375f},
		  {-0.01875f,0.021875f,0.0875f},
		  {-0.015625f,0.028125f,0.090625f},
		  {-0.009375f,0.03125f,0.090625f},
		  {-0.003125f,0.0375f,0.09375f},
		  {0.003125f,0.04375f,0.09375f},
		  {0.009375f,0.05f,0.09375f},
		  {0.01875f,0.05625f,0.090625f},
		  {0.025f,0.0625f,0.090625f},
		  {0.034375f,0.06875f,0.084375f},
		  {0.04375f,0.071875f,0.08125f},
		  {0.053125f,0.078125f,0.071875f},
		  {0.0625f,0.08125f,0.0625f},
		  {0.065625f,0.08125f,0.059375f}},
		 {{-0.0375f,0.0125f,0.078125f},
		  {-0.034375f,0.01875f,0.08125f},
		  {-0.03125f,0.021875f,0.084375f},
		  {-0.025f,0.025f,0.0875f},
		  {-0.021875f,0.03125f,0.0875f},
		  {-0.015625f,0.034375f,0.09375f},
		  {-0.0125f,0.040625f,0.09375f},
		  {-0.00625f,0.046875f,0.09375f},
		  {0.003125f,0.053125f,0.09375f},
		  {0.009375f,0.059375f,0.09375f},
		  {0.01875f,0.065625f,0.090625f},
		  {0.028125f,0.06875f,0.090625f},
		  {0.0375f,0.075f,0.084375f},
		  {0.046875f,0.08125f,0.078125f},
		  {0.059375f,0.084375f,0.065625f},
		  {0.06875f,0.084375f,0.053125f}},
		 {{-0.04375f,0.015625f,0.078125f},
		  {-0.040625f,0.01875f,0.08125f},
		  {-0.0375f,0.021875f,0.084375f},
		  {-0.034375f,0.028125f,0.0875f},
		  {-0.03125f,0.034375f,0.0875f},
		  {-0.025f,0.0375f,0.09375f},
		  {-0.01875f,0.04375f,0.09375f},
		  {-0.0125f,0.05f,0.09375f},
		  {-0.00625f,0.05625f,0.09375f},
		  {0.003125f,0.059375f,0.096875f},
		  {0.0125f,0.065625f,0.096875f},
		  {0.021875f,0.071875f,0.09375f},
		  {0.034375f,0.078125f,0.084375f},
		  {0.04375f,0.084375f,0.075f},
		  {0.05625f,0.084375f,0.06875f},
		  {0.f,0.f,0.f}},
		 {{-0.05f,0.015625f,0.078125f},
		  {-0.05f,0.021875f,0.078125f},
		  {-0.046875f,0.028125f,0.08125f},
		  {-0.04375f,0.03125f,0.084375f},
		  {-0.040625f,0.034375f,0.090625f},
		  {-0.034375f,0.040625f,0.090625f},
		  {-0.028125f,0.04375f,0.096875f},
		  {-0.021875f,0.053125f,0.09375f},
		  {-0.015625f,0.05625f,0.1f},
		  {-0.00625f,0.0625f,0.1f},
		  {0.003125f,0.06875f,0.096875f},
		  {0.015625f,0.075f,0.09375f},
		  {0.025f,0.08125f,0.090625f},
		  {0.040625f,0.084375f,0.08125f},
		  {0.05625f,0.0875f,0.065625f},
		  {0.06875f,0.0875f,0.053125f}},
		 {{-0.059375f,0.01875f,0.075f},
		  {-0.05625f,0.021875f,0.078125f},
		  {-0.053125f,0.028125f,0.08125f},
		  {-0.053125f,0.034375f,0.08125f},
		  {-0.05f,0.0375f,0.084375f},
		  {-0.04375f,0.04375f,0.0875f},
		  {-0.0375f,0.046875f,0.09375f},
		  {-0.03125f,0.053125f,0.09375f},
		  {-0.025f,0.059375f,0.096875f},
		  {-0.015625f,0.065625f,0.096875f},
		  {-0.00625f,0.071875f,0.096875f},
		  {0.00625f,0.078125f,0.09375f},
		  {0.01875f,0.08125f,0.09375f},
		  {0.034375f,0.0875f,0.084375f},
		  {0.046875f,0.0875f,0.078125f},
		  {0.065625f,0.090625f,0.05625f}},
		 {{-0.06875f,0.021875f,0.06875f},
		  {-0.065625f,0.025f,0.075f},
		  {-0.0625f,0.028125f,0.078125f},
		  {-0.059375f,0.034375f,0.08125f},
		  {-0.05625f,0.0375f,0.084375f},
		  {-0.053125f,0.04375f,0.0875f},
		  {-0.046875f,0.046875f,0.09375f},
		  {-0.040625f,0.053125f,0.096875f},
		  {-0.034375f,0.059375f,0.096875f},
		  {-0.025f,0.065625f,0.1f},
		  {-0.015625f,0.071875f,0.1f},
		  {-0.003125f,0.078125f,0.1f},
		  {0.009375f,0.084375f,0.096875f},
		  {0.025f,0.090625f,0.0875f},
		  {0.046875f,0.090625f,0.075f},
		  {0.059375f,0.09375f,0.0625f}},
		 {{-0.075f,0.025f,0.065625f},
		  {-0.075f,0.028125f,0.06875f},
		  {-0.071875f,0.03125f,0.071875f},
		  {-0.06875f,0.034375f,0.078125f},
		  {-0.065625f,0.040625f,0.078125f},
		  {-0.0625f,0.04375f,0.084375f},
		  {-0.059375f,0.05f,0.084375f},
		  {-0.053125f,0.05625f,0.0875f},
		  {-0.046875f,0.059375f,0.096875f},
		  {-0.0375f,0.065625f,0.1f},
		  {-0.028125f,0.071875f,0.1f},
		  {-0.01875f,0.078125f,0.1f},
		  {-0.003125f,0.0875f,0.09375f},
		  {0.021875f,0.090625f,0.090625f},
		  {0.05f,0.090625f,0.071875f},
		  {0.053125f,0.096875f,0.06875f}},
		 {{-0.084375f,0.025f,0.059375f},
		  {-0.08125f,0.03125f,0.0625f},
		  {-0.08125f,0.034375f,0.065625f},
		  {-0.078125f,0.0375f,0.06875f},
		  {-0.078125f,0.040625f,0.071875f},
		  {-0.075f,0.04375f,0.078125f},
		  {-0.06875f,0.05f,0.08125f},
		  {-0.065625f,0.053125f,0.0875f},
		  {-0.059375f,0.059375f,0.090625f},
		  {-0.053125f,0.065625f,0.09375f},
		  {-0.04375f,0.071875f,0.096875f},
		  {-0.03125f,0.078125f,0.1f},
		  {-0.01875f,0.084375f,0.1f},
		  {0.009375f,0.09375f,0.090625f},
		  {0.04375f,0.09375f,0.075f},
		  {0.046875f,0.1f,0.075f}},
		 {{-0.090625f,0.028125f,0.05f},
		  {-0.090625f,0.03125f,0.05625f},
		  {-0.090625f,0.034375f,0.05625f},
		  {-0.0875f,0.0375f,0.0625f},
		  {-0.0875f,0.040625f,0.065625f},
		  {-0.084375f,0.04375f,0.06875f},
		  {-0.08125f,0.05f,0.071875f},
		  {-0.078125f,0.053125f,0.078125f},
		  {-0.075f,0.05625f,0.08125f},
		  {-0.06875f,0.0625f,0.0875f},
		  {-0.0625f,0.06875f,0.090625f},
		  {-0.05f,0.075f,0.096875f},
		  {-0.034375f,0.084375f,0.096875f},
		  {-0.009375f,0.09375f,0.09375f},
		  {0.040625f,0.09375f,0.08125f},
		  {0.04375f,0.1f,0.078125f}},
		 {{0.f,0.f,0.f},
		  {0.f,0.f,0.f},
		  {0.f,0.f,0.f},
		  {-0.096875f,0.0375f,0.053125f},
		  {-0.096875f,0.040625f,0.053125f},
		  {-0.09375f,0.04375f,0.059375f},
		  {-0.09375f,0.046875f,0.059375f},
		  {-0.090625f,0.05f,0.065625f},
		  {-0.090625f,0.053125f,0.065625f},
		  {-0.0875f,0.05625f,0.071875f},
		  {-0.08125f,0.0625f,0.075f},
		  {-0.075f,0.06875f,0.078125f},
		  {-0.065625f,0.075f,0.0875f},
		  {-0.040625f,0.0875f,0.096875f},
		  {0.0375f,0.09375f,0.08125f},
		  {0.0375f,0.1f,0.08125f}}},
		{{{0.f,-0.003125f,0.075f},
		  {0.00625f,0.f,0.075f},
		  {0.009375f,0.003125f,0.078125f},
		  {0.015625f,0.00625f,0.078125f},
		  {0.01875f,0.0125f,0.078125f},
		  {0.021875f,0.015625f,0.08125f},
		  {0.028125f,0.021875f,0.08125f},
		  {0.034375f,0.025f,0.08125f},
		  {0.040625f,0.03125f,0.08125f},
		  {0.046875f,0.0375f,0.078125f},
		  {0.053125f,0.04375f,0.075f},
		  {0.059375f,0.05f,0.06875f},
		  {0.065625f,0.05625f,0.065625f},
		  {0.071875f,0.059375f,0.05625f},
		  {0.075f,0.065625f,0.05f},
		  {0.f,0.f,0.f}},
		 {{-0.003125f,-0.003125f,0.075f},
		  {0.003125f,0.f,0.078125f},
		  {0.00625f,0.00625f,0.078125f},
		  {0.009375f,0.009375f,0.08125f},
		  {0.015625f,0.0125f,0.08125f},
		  {0.01875f,0.01875f,0.084375f},
		  {0.025f,0.021875f,0.084375f},
		  {0.03125f,0.028125f,0.084375f},
		  {0.0375f,0.034375f,0.08125f},
		  {0.04375f,0.040625f,0.078125f},
		  {0.05f,0.046875f,0.075f},
		  {0.05625f,0.053125f,0.071875f},
		  {0.0625f,0.059375f,0.06875f},
		  {0.06875f,0.065625f,0.059375f},
		  {0.075f,0.06875f,0.05f},
		  {0.f,0.f,0.f}},
		 {{-0.00625f,-0.003125f,0.078125f},
		  {-0.003125f,0.003125f,0.078125f},
		  {0.003125f,0.00625f,0.08125f},
		  {0.00625f,0.009375f,0.084375f},
		  {0.009375f,0.015625f,0.084375f},
		  {0.015625f,0.021875f,0.084375f},
		  {0.021875f,0.021875f,0.0875f},
		  {0.028125f,0.028125f,0.0875f},
		  {0.034375f,0.034375f,0.0875f},
		  {0.040625f,0.040625f,0.084375f},
		  {0.046875f,0.046875f,0.08125f},
		  {0.053125f,0.053125f,0.078125f},
		  {0.059375f,0.0625f,0.06875f},
		  {0.06875f,0.065625f,0.0625f},
		  {0.071875f,0.071875f,0.05625f},
		  {0.075f,0.071875f,0.05f}},
		 {{-0.0125f,0.f,0.078125f},
		  {-0.00625f,0.003125f,0.08125f},
		  {-0.003125f,0.00625f,0.084375f},
		  {0.f,0.0125f,0.084375f},
		  {0.00625f,0.015625f,0.0875f},
		  {0.009375f,0.021875f,0.090625f},
		  {0.015625f,0.028125f,0.0875f},
		  {0.021875f,0.034375f,0.0875f},
		  {0.028125f,0.040625f,0.0875f},
		  {0.034375f,0.04375f,0.090625f},
		  {0.04375f,0.05f,0.084375f},
		  {0.05f,0.05625f,0.08125f},
		  {0.05625f,0.0625f,0.075f},
		  {0.065625f,0.06875f,0.065625f},
		  {0.06875f,0.075f,0.05625f},
		  {0.075f,0.075f,0.05f}},
		 {{-0.015625f,0.f,0.08125f},
		  {-0.0125f,0.003125f,0.084375f},
		  {-0.009375f,0.009375f,0.084375f},
		  {-0.00625f,0.015625f,0.0875f},
		  {0.f,0.01875f,0.090625f},
		  {0.00625f,0.021875f,0.09375f},
		  {0.009375f,0.03125f,0.090625f},
		  {0.015625f,0.034375f,0.09375f},
		  {0.021875f,0.04375f,0.090625f},
		  {0.03125f,0.046875f,0.090625f},
		  {0.0375f,0.053125f,0.090625f},
		  {0.046875f,0.059375f,0.084375f},
		  {0.053125f,0.065625f,0.08125f},
		  {0.059375f,0.071875f,0.071875f},
		  {0.06875f,0.075f,0.0625f},
		  {0.075f,0.078125f,0.05f}},
		 {{-0.021875f,0.003125f,0.08125f},
		  {-0.01875f,0.00625f,0.084375f},
		  {-0.015625f,0.0125f,0.0875f},
		  {-0.0125f,0.015625f,0.090625f},
		  {-0.00625f,0.021875f,0.090625f},
		  {-0.003125f,0.028125f,0.09375f},
		  {0.003125f,0.034375f,0.09375f},
		  {0.009375f,0.0375f,0.096875f},
		  {0.015625f,0.04375f,0.096875f},
		  {0.025f,0.05f,0.09375f},
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#endif