List of all members | Public Attributes | Static Public Attributes
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
 

Detailed Description

Definition at line 68 of file NaturalIK.h.

Member Data Documentation

◆ EE

float EE

Definition at line 72 of file NaturalIK.h.

◆ EY

float EY

Definition at line 73 of file NaturalIK.h.

◆ MMM_BT2LSC

constexpr float MMM_BT2LSC = 0.087
staticconstexpr

Definition at line 83 of file NaturalIK.h.

◆ MMM_CLAVICULAR_WIDTH

constexpr float MMM_CLAVICULAR_WIDTH = MMM_BT2LSC * MMM_L
staticconstexpr

Definition at line 85 of file NaturalIK.h.

◆ MMM_L

constexpr float MMM_L = 1700
staticconstexpr

Definition at line 78 of file NaturalIK.h.

◆ MMM_LE2LW

constexpr float MMM_LE2LW = 0.145
staticconstexpr

Definition at line 77 of file NaturalIK.h.

◆ MMM_LOWER_ARM_LENGTH

constexpr float MMM_LOWER_ARM_LENGTH = MMM_LE2LW * MMM_L
staticconstexpr

Definition at line 80 of file NaturalIK.h.

◆ MMM_LS2LE

constexpr float MMM_LS2LE = 0.188
staticconstexpr

Definition at line 76 of file NaturalIK.h.

◆ MMM_LSC2LS

constexpr float MMM_LSC2LS = 0.023
staticconstexpr

Definition at line 82 of file NaturalIK.h.

◆ MMM_SHOULDER_POS

constexpr float MMM_SHOULDER_POS = (MMM_LSC2LS + MMM_BT2LSC) * MMM_L
staticconstexpr

Definition at line 86 of file NaturalIK.h.

◆ MMM_UPPER_ARM_LENGTH

constexpr float MMM_UPPER_ARM_LENGTH = MMM_LS2LE * MMM_L
staticconstexpr

Definition at line 79 of file NaturalIK.h.

◆ SE

float SE

Definition at line 70 of file NaturalIK.h.

◆ SY

float SY

Definition at line 71 of file NaturalIK.h.

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