/***
 * @file StamperUtils.h
 * @brief Enums and structs used in the Stamper kinematics implementation
 * @author Kevin Ouellet (kouellet@users.sourceforge.net)
 * @version $Id$
 * @copyright (c) 2007-2008 Nonpolynomial Labs/Kyle Machulis
 * @license BSD License
 *
 * $HeadURL$
 * 
 * Project info at http://libnifalcon.sourceforge.net/ 
 *
 */

#ifndef STAMPERUTILS_H_
#define STAMPERUTILS_H_

namespace libnifalcon
{
	namespace StamperKinematicImpl
	{	
		enum arm_id
		{
			ARM_1 = 0, ARM_2, ARM_3
		};	

		enum theta_id
		{
			THETA_1 = 0, THETA_2, THETA_3
		};

		enum coord
		{
			X = 0, Y, Z
		};

		struct Angle
		{
			float theta1[3];
			float theta2[3];
			float theta3[3];
		};
	}
}
#endif 
