#include "3d.h"
#include "ikLib.h"

#ifndef headerwalkerbot_h
  #define headerwalkerbot_h

// velocities in mm/sec

typedef struct walker_s {
   int        legs;
   int        legdof;
   point3d_t  acceleration;
   point3d_t  velocity;
   point3d_t  position ;
   point3d_t  orientation;  
   point3d_t *footPosition;   
   double    *jointAngle;
 
} walker_t;

double dt;  // delta time

void setParamiters( walker_t *this, int legs, int dof) ;
int  footIndex( walker_t *this, int side, int leg) ;
int  axisIndex(walker_t *this, int side, int leg, int axis) ;
void walkerInit( walker_t *this ) ;
void walkerFree( walker_t *this) ;
void accel2velocity( walker_t *this);
void velocity2position( walker_t *this);
void velocity2orientation( walker_t *this) ;

#endif