Carlo Collodi
/
kangaroo
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Diff: include/dynamics.hpp
- Revision:
- 45:0db0fc9f77b1
- Parent:
- 43:68faf056ed5c
- Child:
- 46:4497e945de6b
--- a/include/dynamics.hpp Wed Nov 27 02:51:39 2013 +0000 +++ b/include/dynamics.hpp Sun Dec 01 07:23:22 2013 +0000 @@ -9,9 +9,9 @@ #define l2 0.06 //hip length #define l3 0.1 //leg length #define l4 0.06 //foot length -#define lg 0.286 //gantry length -#define h 0.242 //fixed support height - +#define lg 0.34 //gantry length +#define h 0.29 //fixed support height +#define pi 3.1415 //PI Joints invKinBody(Point &in); Point kinGantry(Joints theta);
