1. Trammell Hudson
  2. puma

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File ik.h Added

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+#pragma once
+
+extern int
+ik_first(
+	double * const theta, // output commands
+	const double * const xyz, // desired position
+	const int right, // right arm = +1, left arm = -1
+	const int above // elbow above arm = +1, below arm = -1
+);