<commit_before>#ifndef ROBOT_H
#define ROBOT_H

#define TAU 2*M_PI

#ifdef __cplusplus 
extern "C" {		//if you accidentally use a c++ compiler
#endif
typedef struct
{
	double m[3][3];
} mat3_t,*mat3;
typedef struct
{
	double x,y;
} vec2_t, *vec2;


//iterates adjustion until error is sufficiently small
int calculate_position(int size, double *joints, double *angles, double error, double goal_x, double goal_y);
//iterates "iterations" times, returns the error
double calculate_position_times(int size, double *joints, double *angles, int iterations, double goal_x, double goal_y);

//adjusts one angle at a time to get closer and closer to the target
mat3_t adjust(int size, double *joints, double *angles, mat3_t tool, vec2_t goal);
//combine the rotation and translation matrices
mat3_t calc_joint(double joint, double angle);
//compute the end effector
mat3_t calc_end(int size, double *joints, double *angles);
//angle is a double,
//prev is a matrix
//tool is matrix (of the end effector)
//goal is a vector of the goal
double step(double angle, mat3_t prev, mat3_t tool, vec2_t goal);

//the identity matrix<commit_msg>Update robot.h<commit_after>#ifndef ROBOT_H
#define ROBOT_H

#define TAU 2*M_PI

#ifdef __cplusplus 
extern "C" {		//if you accidentally use a c++ compiler
#endif
typedef struct
{
	double m[3][3];
} mat3_t,*mat3;
typedef struct
{
	double x,y;
} vec2_t, *vec2;


//iterates adjustion until error is sufficiently small
int calculate_position(int size, double *joints, double *angles, double error, double goal_x, double goal_y);
//iterates "iterations" times, returns the error
double calculate_position_times(int size, double *joints, double *angles, int iterations, double goal_x, double goal_y);

//adjusts one angle at a time to get closer and closer to the target
mat3_t adjust(int size, double *joints, double *angles, mat3_t tool, vec2_t goal);
//combine the rotation and translation matrices
mat3_t calc_joint(double joint, double angle);
//compute the end effector
mat3_t calc_end(int size, double *joints, double *angles);
//angle is a double,
//prev is a matrix
//tool is matrix (of the end effector)
//goal is a vector of the goal
void step(double *angle, mat3_t prev, mat3_t tool, vec2_t goal);

//the identity matrix
{'fraction_non_alphanumeric': 0.09397163120567376, 'fraction_numerical': 0.013297872340425532, 'mean_word_length': 5.018666666666666, 'pattern_counts': {'":': 0, '<': 3, '<?xml version=': 0, '>': 3, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '1112982', 'n_tokens_mistral': 753, 'n_tokens_neox': 726, 'n_words': 300}