InverseLeg
Dependents: SwitchMode Stabilizer SwitchMode
Kinematic.h
- Committer:
- icyzkungz
- Date:
- 2015-12-23
- Revision:
- 3:fd037c89ba5f
- Parent:
- 2:c9c38629be85
- Child:
- 4:d3bb9ead2a55
File content as of revision 3:fd037c89ba5f:
#include "mbed.h" static Serial test(SERIAL_TX,SERIAL_RX); 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: 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,float); void set_zeta_hip_range(float,float); void set_offset_YZ(float,float); void SumPositionWithOffset(); void ForwardKinematicCalculation(); void InverseKinematicCalculation(); void print(); };