functionlegsDirections
Return six vectors resolved in base frame that represent the orientation and length of the six legs for a given platform pose
Extends from StewartPlatform.Icons.Function (Icon for functions).
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| StewartPlatform.Types.DiscParameters | base | Base parameters | |
| StewartPlatform.Types.DiscParameters | platform | Platform parameters | |
| SI.Position[3] | position | Coordinates of the platform frame resolved in base frame | |
| Modelica.Mechanics.MultiBody.Types.RotationSequence | sequence | Sequence of rotations from base frame to platform frame along axis sequence[i] | |
| SI.Angle[3] | angles | Rotation angles around the axes defined in 'sequence' | |
| Boolean | normalize | false | =true, if you want normalized vectors as output (loss of legs lengths info) |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[6,3] | legsDirections | Legs represented as vectors resolved in base frame |