FunctionalHacker/hugo-toha
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

math constants

Browse source
This commit is contained in:
Sharwin24 2025-02-25 11:44:10 -06:00
parent d7d1db6a57
commit d28a474698
1 changed files with 7 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

7
content/posts/delta-robot/index.md
View file

@ -36,6 +36,13 @@ The forward and inverse kinematics were then implemented in C++ following the ap
// this->SB = Base Side Length [mm]
// this->SP = Platform (EE) Side Length [mm]
const float sqrt3 = sqrt(3.0);
const float sin120 = sqrt3 / 2.0;
constexpr float cos120 = -0.5;
const float tan60 = sqrt3;
constexpr float sin30 = 0.5;
const float tan30 = 1 / sqrt3;
void DeltaKinematics::forwardKinematics(const std::shared_ptr<DeltaFK::Request> request, std::shared_ptr<DeltaFK::Response> response) {
// Locally save the request data (joint angles)
float theta1 = request->joint_angles.theta1;