File content as of revision 1:d5cf0907f83d:

class Kinemetic
{
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
public:
    InverseLeg(float, float);
    InverseLeg(float, float, float, float);
    InverseLeg(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;
    }

    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 InverseKinematicCalculation();
}