I've been herding some cats over my keyboard and came up with some code.
It translates and rotates (x,y) points for trilateration
And then I have to reverse the operation to get the valid points.
Is there a more elegant or correct way of doing this please?
It translates and rotates (x,y) points for trilateration
And then I have to reverse the operation to get the valid points.
Code:
//tranlate all towers down so that Tower3(Gamma) lies on (0,0)
float ttower1_x = delta_tower1_x;
float ttower1_y = delta_tower1_y - arm_radius;
float ttower2_x = delta_tower2_x;
float ttower2_y = delta_tower2_y - arm_radius;
float ttower3_x = delta_tower3_x;
float ttower3_y = delta_tower3_y - arm_radius;
//Rotate all towers around (0,0) so that towers 3 & 2 lie on the x-axis
float rtower1_x = ttower1_x * COS60 - ttower1_y * SIN60;
float rtower1_y = ttower1_x * SIN60 + ttower1_y * COS60;
float rtower2_x = ttower2_x * COS60 - ttower2_y * SIN60;
float rtower2_y = ttower2_x * SIN60 + ttower2_y * COS60;
float rtower3_x = ttower3_x; //already on (0,0)
float rtower3_y = ttower3_y; //already on (0,0)Is there a more elegant or correct way of doing this please?
