Carlo Collodi / kangaroo

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Dependencies:   QEI mbed

include/dynamics.hpp@46:4497e945de6b, 2013-12-01 (annotated)

Committer:
alexc89
Date:
Sun Dec 01 20:13:35 2013 +0000
Revision:
46:4497e945de6b
Parent:
45:0db0fc9f77b1
Child:
55:ff84fbdfd1d1
SLIP model implemented.  Jacobian being worked on.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
calamaridudeman 22:4d85d989af08 1 #include "mbed.h"
calamaridudeman 22:4d85d989af08 2
calamaridudeman 37:bf257a0154db 3 #include "include/geom.hpp"
calamaridudeman 37:bf257a0154db 4
calamaridudeman 22:4d85d989af08 5 #ifndef DYNAMICS_HPP
calamaridudeman 22:4d85d989af08 6 #define DYNAMICS_HPP
calamaridudeman 22:4d85d989af08 7
alexc89 46:4497e945de6b 8 #define l1 0.055 //gantry point to hip joint
alexc89 46:4497e945de6b 9 #define l2 0.061 //hip length
alexc89 46:4497e945de6b 10 #define l3 0.100 //leg length
alexc89 46:4497e945de6b 11 #define l4 0.068 //foot length
alexc89 46:4497e945de6b 12 #define lg 0.33 //gantry length
alexc89 46:4497e945de6b 13 #define h 0.310 //fixed support height
alexc89 45:0db0fc9f77b1 14 #define pi 3.1415 //PI
calamaridudeman 37:bf257a0154db 15 Joints invKinBody(Point &in);
calamaridudeman 43:68faf056ed5c 16 Point kinGantry(Joints theta);
calamaridudeman 37:bf257a0154db 17
calamaridudeman 37:bf257a0154db 18
calamaridudeman 22:4d85d989af08 19
calamaridudeman 22:4d85d989af08 20 #endif