Carlo Collodi
/
kangaroo
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Diff: include/dynamics.hpp
- Revision:
- 39:b765b6dd01c3
- Parent:
- 37:bf257a0154db
- Child:
- 43:68faf056ed5c
--- a/include/dynamics.hpp Sun Nov 24 20:38:59 2013 +0000 +++ b/include/dynamics.hpp Tue Nov 26 19:37:55 2013 +0000 @@ -5,13 +5,15 @@ #ifndef DYNAMICS_HPP #define DYNAMICS_HPP -#define l1 1.0 //gantry point to hip joint -#define l2 1.0 //hip length -#define l3 1.0 //leg length -#define l4 1.0 //foot length +#define l1 0.051 //gantry point to hip joint +#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 Joints invKinBody(Point &in); -Point kinGantry(Joints theta); +float kinGantry(Joints theta);
