public override double calc_position(ref move m, double move_time)
{
Vector3d c = m.get_coord(move_time);
double dx = tower_x - c.X, dy = tower_y - c.Y;
return(Math.Sqrt(arm2 - dx * dx - dy * dy) + c.Z);
}
public override double calc_position(ref move m, double move_time)
{
Vector3d c = m.get_coord(move_time);
double dx = anchor.X - c.X, dy = anchor.Y - c.Y;
double dz = anchor.Z - c.Z;
return(Math.Sqrt(dx * dx + dy * dy + dz * dz));
}
public override double calc_position(ref move m, double move_time)
{
Vector3d c = m.get_coord(move_time);
// XXX - handle x==y==0
// XXX - handle angle wrapping
return(Math.Atan2(c.Y, c.X));
}
public override double calc_position(ref move m, double move_time)
{
return(m.get_coord(move_time).Z);
}
public override double calc_position(ref move m, double move_time)
{
Vector3d c = m.get_coord(move_time);
return(c.X - c.Y);
}
public override double calc_position(ref move m, double move_time)
{
Vector3d c = m.get_coord(move_time);
return(Math.Sqrt(c.X * c.X + c.Y * c.Y));
}