NaturalIK::SoechtingAngles Struct Reference

#include <RobotAPI/libraries/natik/NaturalIK.h>

Public Attributes
float	EE
float	EY
float	SE
float	SY

Static Public Attributes
static constexpr float	MMM_BT2LSC = 0.087
static constexpr float	MMM_CLAVICULAR_WIDTH = MMM_BT2LSC * MMM_L
static constexpr float	MMM_L = 1700
static constexpr float	MMM_LE2LW = 0.145
static constexpr float	MMM_LOWER_ARM_LENGTH = MMM_LE2LW * MMM_L
static constexpr float	MMM_LS2LE = 0.188
static constexpr float	MMM_LSC2LS = 0.023
static constexpr float	MMM_SHOULDER_POS = (MMM_LSC2LS + MMM_BT2LSC) * MMM_L
static constexpr float	MMM_UPPER_ARM_LENGTH = MMM_LS2LE * MMM_L

Member Data Documentation

EE

float EE

EY

float EY

MMM_BT2LSC

float MMM_BT2LSC = 0.087

staticconstexpr

MMM_CLAVICULAR_WIDTH

float MMM_CLAVICULAR_WIDTH = MMM_BT2LSC * MMM_L

staticconstexpr

MMM_L

float MMM_L = 1700

staticconstexpr

MMM_LE2LW

float MMM_LE2LW = 0.145

staticconstexpr

MMM_LOWER_ARM_LENGTH

float MMM_LOWER_ARM_LENGTH = MMM_LE2LW * MMM_L

staticconstexpr

MMM_LS2LE

float MMM_LS2LE = 0.188

staticconstexpr

MMM_LSC2LS

float MMM_LSC2LS = 0.023

staticconstexpr

MMM_SHOULDER_POS

float MMM_SHOULDER_POS = (MMM_LSC2LS + MMM_BT2LSC) * MMM_L

staticconstexpr

MMM_UPPER_ARM_LENGTH

float MMM_UPPER_ARM_LENGTH = MMM_LS2LE * MMM_L

staticconstexpr

SE

float SE

SY

float SY

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The documentation for this struct was generated from the following file:

• RobotAPI/libraries/natik/NaturalIK.h