This code is described in "Computational Geometry in C" (Second Edition),
Chapter 8. It is not written to be comprehensible without the
explanation in that book.
Prints out one arm configuration to reach given target.
Assumes number of links >= 3.
Input:
nlinks Number of links
L1 L2 ... Ln Link lengths
x0 y0 target0
x1 x2 tarGET1
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2014-01-25
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