Source

puma / ik.c

Diff from to
 	const double r = sqrt(px*px + py*py - d2*d2);
 	const double R = sqrt(px*px + py*py + pz*pz - d2*d2);
 
-	printf("r=%f R=%f\n", r, R);
+	//printf("r=%f R=%f\n", r, R);
 
 	// theta[0] defined in equation 26
 	theta[0] = atan2(
 		-right * py * r - px * d2,
-		-right * pz * r + py * d2
+		-right * px * r + py * d2
 	);
 
 	// theta[1] is equations 28 - 35.
 }
 
 
+#if 0
 int main(int argc, char **argv)
 {
 	if (argc != 4)
 
 	return 0;
 }
+#endif