jordy morsinkhof / BrocketJacobian

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Fork of BrocketJacobian by Bram S

Diff: BrocketJacobian.cpp

Revision:
1:f58264bf73f9
Parent:
0:92c31f1d4274
Child:
2:380a27f546ea
--- a/BrocketJacobian.cpp	Mon Oct 30 13:51:13 2017 +0000
+++ b/BrocketJacobian.cpp	Mon Oct 30 15:50:51 2017 +0000
@@ -4,8 +4,8 @@
     float L1=27.5f;
     float L2=32.0f;
     
-    x = L2*cos(q1+q2) + L1*cos(q1);
-    y = L2*sin(q1+q2) + L1*sin(q1);
+    x = L2*cos(q1+q2) + L1*cos(q1) - 14.2f;
+    y = L2*sin(q1+q2) + L1*sin(q1) + 11.9f;
 }
 
 void TransposeJacobian(float q1,float q2,float Fsprx,float Fspry,float &tau1,float &tau2){