| Name | Description |
|---|---|
| jointsCoordinates | Return a vector with the joints coordinates of a disc resolved in the frame of the disc to which they belong |
| validPose | Return true if the input pose belongs to the operativity region |
| legsLength | Return the lengths of all six legs for a given platform pose |
| legsDirections | Return six vectors resolved in base frame that represent the orientation and length of the six legs for a given platform pose |
| ujAngles | Return the two angles of the universal joint for a given direction |