Estimates the fixed segment lengths of a serial planar chain from the marker
positions of its nodes (joint centres and the end point) in a static/reference
pose.
Arguments
- nodes
A (n_segments + 1) x 2 matrix of node positions (root, joint 1,
..., end point) in the static pose.
Value
a planar_ik_model: lengths (per segment) and n_segments.
Examples
nodes <- rbind(c(0, 0), c(0.4, 0), c(0.8, 0)) # two 0.4 m segments
scalePlanarModel(nodes)$lengths
#> [1] 0.4 0.4