Tristan Vlogman / inverseKinematics

pseudo-inverse

inverseKinematics.h@0:537f81d7b756, 2017-10-26 (annotated)

Committer:
tvlogman
Date:
Thu Oct 26 13:29:25 2017 +0000
Revision:
0:537f81d7b756
Child:
1:81e4001f1082
Working library implementing inverse kinematics (using Penrose-Moore Inverse)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tvlogman 0:537f81d7b756 1 #ifndef INVERSEKINEMATICS_H
tvlogman 0:537f81d7b756 2 #define INVERSEKINEMATICS_H
tvlogman 0:537f81d7b756 3
tvlogman 0:537f81d7b756 4 #include "mbed.h"
tvlogman 0:537f81d7b756 5 #include "Matrix.h"
tvlogman 0:537f81d7b756 6 #include "MatrixMath.h"
tvlogman 0:537f81d7b756 7
tvlogman 0:537f81d7b756 8
tvlogman 0:537f81d7b756 9 class inverseKinematics {
tvlogman 0:537f81d7b756 10 public:
tvlogman 0:537f81d7b756 11 inverseKinematics(float, float, float); // Constructor
tvlogman 0:537f81d7b756 12 Matrix computeAngles(float Vx, float Vy, float A1, float A2);
tvlogman 0:537f81d7b756 13
tvlogman 0:537f81d7b756 14 private:
tvlogman 0:537f81d7b756 15 float L1;
tvlogman 0:537f81d7b756 16 float L2;
tvlogman 0:537f81d7b756 17 float dt;
tvlogman 0:537f81d7b756 18 };
tvlogman 0:537f81d7b756 19 #endif