.StewartPlatform.Functions.legsLength

Information

Return the lengths of all six legs for a given platform pose

Interface

function legsLength
  extends StewartPlatform.Icons.Function;
  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'";
  output SI.Length legsLength[6] "Legs length for the given configuration";
end legsLength;