Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

🦾 Makes embedded kinematics kinda work

Browse Source
This commit is contained in:
Rune Harlyk
2024-05-21 14:57:38 +02:00
committed by Rune Harlyk
parent 68d319e022
commit d2d1c85f50
5 changed files with 195 additions and 127 deletions
Download Patch File Download Diff File Expand all files Collapse all files
app/src/lib/kinematic.ts
+9 -5
View File
@@ -78,14 +78,18 @@ export default class Kinematic {
];
}
public calcIK(Lp: number[][], position: position_t): number[][] {
public calcIK(Lp: number[][], position: position_t): number[] {
this.bodyIK(position);
return [
this.legIK(this.multiplyVector(this.inverse(this.Tlf), Lp[0])),
this.legIK(this.multiplyVector(this.Ix, this.multiplyVector(this.inverse(this.Trf), Lp[1]))),
this.legIK(this.multiplyVector(this.inverse(this.Tlb), Lp[2])),
this.legIK(this.multiplyVector(this.Ix, this.multiplyVector(this.inverse(this.Trb), Lp[3])))
...this.legIK(this.multiplyVector(this.inverse(this.Tlf), Lp[0])),
...this.legIK(
this.multiplyVector(this.Ix, this.multiplyVector(this.inverse(this.Trf), Lp[1]))
),
...this.legIK(this.multiplyVector(this.inverse(this.Tlb), Lp[2])),
...this.legIK(
this.multiplyVector(this.Ix, this.multiplyVector(this.inverse(this.Trb), Lp[3]))
)
];
}