modelFunction_upperArmsDirections_test
Test of function 'upperArmsDirections'
Parameters
| Type | Name | Default | Description |
|---|
| SI.Position[3] | platformPosition | {0.141421, 0, -0.543} | Coordinates of the platform frame resolved in base frame |
| DeltaRobot.Types.DiscParameters | base | | Base parameters |
| DeltaRobot.Types.DiscParameters | platform | | Platform parameters |
| DeltaRobot.Types.ArmParameters | armParameters | | Arm parameters |
| SI.Position[3,3] | J | jointsCoordinates(base) | Coordinates of the actuators' joints resolved in base frame |
| Real[3,3] | upperArm | upperArmsDirections(platformPosition, armParameters.L, armParameters.l, base.D, platform.D, base.beta) | Upper arms represented as vectors resolved in base frame |
