functionlegsLength
Return the lengths of all 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' |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Length[6] | legsLength | Legs length for the given configuration |