Carlo Collodi
/
kangaroo
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include/dynamics.hpp
- Committer:
- alexc89
- Date:
- 2013-12-01
- Revision:
- 45:0db0fc9f77b1
- Parent:
- 43:68faf056ed5c
- Child:
- 46:4497e945de6b
File content as of revision 45:0db0fc9f77b1:
#include "mbed.h"
#include "include/geom.hpp"
#ifndef DYNAMICS_HPP
#define DYNAMICS_HPP
#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 0.34 //gantry length
#define h 0.29 //fixed support height
#define pi 3.1415 //PI
Joints invKinBody(Point &in);
Point kinGantry(Joints theta);
#endif
