Moved ik.py to python package

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}

python/ik.py

@@ -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))