mapping.hpp

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#pragma once
#include <vector>
 
std::vector<float> rt_to_ht(std::vector<float> joint_angles)
{
  const auto yaw = joint_angles.at(0);
  const auto curl = joint_angles.at(1) + joint_angles.at(2);
  return {yaw, curl};
}
 
std::vector<float> ht_to_rt(std::vector<float> joint_angles)
{
  const auto yaw = joint_angles.at(0);
  const auto curl1 = joint_angles.at(1) / 2;
  const auto curl2 = joint_angles.at(1) / 2;
  return {yaw, curl1, curl2};
}