From 8a280410a02c7a7d57758b211d2bc3777034d199 Mon Sep 17 00:00:00 2001
From: Marcus Grieger <marcus@grieger.xyz>
Date: Mon, 5 Feb 2024 22:36:53 +0100
Subject: [PATCH] Moved ik.py to python package

---
 CMakeLists.txt |  4 ----
 python/ik.py   | 42 ------------------------------------------
 2 files changed, 46 deletions(-)
 delete mode 100644 python/ik.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4a22b66..596874d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,10 +77,6 @@ install(
    DESTINATION share/${PROJECT_NAME}
 )
 
-install(
-    FILES .setup_assistant DESTINATION share/${PROJECT_NAME}
-)
-
 
 install(TARGETS hexapod_robot_ik_server
     DESTINATION lib/${PROJECT_NAME}
diff --git a/python/ik.py b/python/ik.py
deleted file mode 100644
index 4e6d98e..0000000
--- a/python/ik.py
+++ /dev/null
@@ -1,42 +0,0 @@
-import math
-
-
-def ik(side, x, y, z):
-
-    c = 20
-    f = 80
-    t = 130
-    
-    ff = f*f
-    tt = t*t
-
-    print()
-    print(f"ik {side} {x} {y} {z}")
-
-    if side == 'l':
-        x = -x
-
-    coxa_angle = math.atan2(y,x)
-    
-    r = math.sqrt(x*x + y * y) - c
-    print(f"r: {r}")
-
-    rr = r*r
-    zz = z*z
-    dd = rr + zz
-    d  = math.sqrt(dd)
-    
-    print(f"coxa_angle: {coxa_angle}")
-
-    femur_angle = math.acos((ff + dd - tt) / (2 * f * d)) + math.acos(-z/d) - math.pi/2
-    print(f"femur_angle: {femur_angle}")
-    tibia_angle = math.acos((tt + ff - dd) / (2 * t * f))                   - math.pi/2
-    print(f"tibia_angle: {tibia_angle}")
-
-    return(coxa_angle, femur_angle, tibia_angle)
-        
-print(ik('l', -100, 0, -130))
-print(ik('r',  100, 0, -130))
-
-print(ik('l', -120, 0, -130))
-print(ik('r',  120, 0, -130))