InverseLeg
Dependents: SwitchMode Stabilizer SwitchMode
Kinematic.h
- Committer:
- soulx
- Date:
- 2016-01-23
- Revision:
- 6:444a33819962
- Parent:
- 5:a2a5ebd65f46
File content as of revision 6:444a33819962:
#ifndef _KINEMATIC_H_ #define _KINEMATIC_H_ #include "mbed.h" class Kinematic { private: float Link_Hip; //centimeter float Link_Knee; //centimeter float Zeta_Hip; //degree float Zeta_Knee; //degree float Position_Y; //centimeter float Position_Z; //centimeter //float offset_y; //float offset_z; float zeta_knee_range_max; float zeta_knee_range_min; float zeta_hip_range_max; float zeta_hip_range_min; public: Serial test; Kinematic(float, float); Kinematic(char, float, float, float, float); float get_Link_Hip() { return Link_Hip; } float get_Link_Knee() { return Link_Knee; } float get_Zeta_Hip() { return Zeta_Hip; } float get_Zeta_Knee() { return Zeta_Knee; } float get_Position_Y() { return Position_Y; } float get_Position_Z() { return Position_Z; } /* float get_offset_y() { return offset_y; } float get_offset_z() { return offset_z; } */ void set_Link_Hip(float); void set_Link_Knee(float); void set_Zeta_Hip(float); void set_Zeta_Knee(float); void set_Position_Y(float); void set_Position_Z(float); void set_zeta_knee_range(float max,float min); void set_zeta_hip_range(float max,float min); //void set_offset_YZ(float,float); //void SumPositionWithOffset(); void ForwardKinematicCalculation(); void InverseKinematicCalculation(); void show_z(); }; #endif