.StewartPlatform.Functions.validPose

Information

Return true if the input pose belongs to the operativity region

Interface

function validPose
  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'";
  input SI.Length maxLength "Max leg length";
  input SI.Length minLength "Min leg length";
  output Boolean valid "=true, if the input pose is in the operativity region";
end validPose;