Forward kinematics of a planar chain — forwardKinematics2D • PhysioMoCap

Node positions of a serial planar chain from a base, the fixed segment lengths and the ABSOLUTE segment angles (radians, from the x-axis).

Usage

forwardKinematics2D(angles, lengths, base = c(0, 0))

Arguments

angles: Absolute segment angles (length n_segments).
lengths: Segment lengths (length n_segments).
base: Root position (length 2; default origin).

Value

a (n_segments + 1) x 2 matrix of node positions.

See also

inverseKinematicsMarkers()

Examples

forwardKinematics2D(c(0, pi/2), c(1, 1))           # right angle
#>      [,1] [,2]
#> [1,]    0    0
#> [2,]    1    0
#> [3,]    1    1