On 24 June 2010 00:23, Andy Pugh <a...@andypugh.fsnet.co.uk> wrote:

> The current code is here:
> http://pastebin.com/SQJSy0f9

And if you look at line 53 you will see "tan(joints[5])"

There is no "tan" in rtai_math.h....

<much swearing>

-- 
atp

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