Diff: BrocketJacobian.cpp

Revision:

0:92c31f1d4274

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BrocketJacobian.cpp	Mon Oct 30 13:51:13 2017 +0000
@@ -0,0 +1,25 @@
+#include "BrocketJacobian.h"
+
+void Brocket(float q1,float q2,float &x,float &y){
+    float L1=27.5f;
+    float L2=32.0f;
+    
+    x = L2*cos(q1+q2) + L1*cos(q1);
+    y = L2*sin(q1+q2) + L1*sin(q1);
+}
+
+void TransposeJacobian(float q1,float q2,float Fsprx,float Fspry,float &tau1,float &tau2){
+    float L1=27.5f;
+    float L2=32.0f;
+    tau1 = Fspry*(L2*cos(q1+q2)+L1*cos(q1)) - Fsprx*(L2*sin(q1+q2)+L1*sin(q1));
+    tau2 = Fspry*L2*cos(q1+q2)              - Fsprx*L2*sin(q1+q2);
+}
+
+void InverseJacobian(float q1 , float q2, float vx, float vy, float &q1dot, float &q2dot){
+    float L1=27.5f;
+    float L2=32.0f;
+    q1dot = ( vx*cos(q1+q2)         + vy*sin(q1+q2) )
+            /(L1*sin(q2));
+    q2dot = -(L1*vy*sin(q1) + L2*vx*cos(q1+q2) + L2*vy*sin(q1+q2) + L1*vx*cos(q1))
+            /(L1*L2*sin(q2));
+}
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