.StewartPlatform.Functions.legsDirections

Information

Return six vectors resolved in base frame that represent the orientation and length of the six legs for a given platform pose

Interface

function legsDirections
  extends StewartPlatform.Icons.Function;
  import TM = Modelica.Mechanics.MultiBody.Frames.TransformationMatrices;
  input StewartPlatform.Types.DiscParameters base "Base parameters";
  input StewartPlatform.Types.DiscParameters platform "Platform parameters";
  input SI.Position position[3] "Coordinates of the platform frame resolved in base frame";
  input Modelica.Mechanics.MultiBody.Types.RotationSequence sequence "Sequence of rotations from base frame to platform frame along axis sequence[i]";
  input SI.Angle angles[3] "Rotation angles around the axes defined in 'sequence'";
  input Boolean normalize = false "=true, if you want normalized vectors as output (loss of legs lengths info)";
  output Real legsDirections[6, 3] "Legs represented as vectors resolved in base frame";
end legsDirections;