//////////////////////////////////////////////////////
///////  OWI Robot Navigation and Control Kit  ///////
///////     Version 0.1, December 28, 1999     ///////
///////             Alan Mishchenko            ///////
//////////////////////////////////////////////////////

#ifndef __NAVIGATION_H__
#define __NAVIGATION_H__

const double Pi = 3.1416;

typedef struct CARTESIAN_tag {
	double X;
	double Y;
	double Z;
} CARTESIAN;

typedef struct CYLINDRIC_tag {
	double Fi;
	double Ro;
	double Hi;
} CYLINDRIC;

typedef struct TRIPLE_tag {
	double A;
	double B;
	double C;
} TRIPLE;


CARTESIAN Cylindric2Cartesian( CYLINDRIC Point );
CYLINDRIC Cartesian2Cylindric( CARTESIAN Point );
TRIPLE GetRobotParameters( CYLINDRIC Point );

#endif