/*		WALK_PARAMS.H

*/


#define P_CONT 30	//30 ms periodic thread
#define NR_END 1	//definition for vector funciton
#define	FREE_ARG char * //definition for free_vector function

//robot parameter definitions
#define Lan 4
#define Laf 6
#define Lab 4


int walking_params(struct w_params *w_ptr_1,struct w_params *w_ptr,struct robot_state *rst,char body);

void spline (float x[10],float y[10],int n,float yp1,float ypn,float y2[10]);

float *vector (long nl,long nh);

void free_vector(float *v,long nl,long nh);