/*		GEN_TRAY.H


*/
void m_inverse(char leg,float X_c,float X_t,float Y_c,float Y_t,float Qf,float *Q);
void gentray(struct w_params *w_p,struct robot_state *r_st);
void splint(float xa[],float ya[],float y2a[],int n,float x,float *y);