Positioning Functions

These are the functions useful to move the robot to a given place in the environment.

void robot_reset (t_robot *r)

 

Moves the robot to the reset position that consists first in moving the robot to the origin of the world reference system and then moving all legs to its reference position.

void move_robot (unsigned int dof_R3,double v,t_robot *r)

 

Translates and rotates the robot. Possible movements are translation along and rotations around axis X, Y and Z. Those movements are expressed using homogeneous transformations: Tx(x), Ty(y), Tz(z), $Rx(\phi)$, $Ry(\theta)$, $Rz(\psi)$.        dof_R3 indicates the transformations to be executed numbered from 0 to 5 and v the size of its parameter (x, y, z, $\phi$, $\theta$, $\psi$). The transformation can be named using the six constants (TX=0, TY=1, TZ=2, RX=3, RY=4, and RZ=5)            that are provided in the file transform.h.    All angles should be in radians.