planar

README

Planar kinematics

Describes simple rotational joints that lie on a single XZ plane. Each joint is described by an angle constraint and arm length. The very first parameter is the orientation of the XZ plane around Z axis.

Documentation

Index

• func New2DOF(cfg [2]Config) kinematics.Kinematics
• func New3DOF(cfg [3]Config) kinematics.Kinematics
• type Config
  • func (c Config) Limit(a float32) float32

Functions

func New2DOF

func New2DOF(cfg [2]Config) kinematics.Kinematics

func New3DOF

func New3DOF(cfg [3]Config) kinematics.Kinematics

Types

type Config

type Config struct {
	Min    float32
	Max    float32
	Length float32
}

func (Config) Limit

func (c Config) Limit(a float32) float32