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robotology / cer

Contains SW specific to the R1 robots
GNU General Public License v2.0
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Extend TripodParameters to include T0 #6

Closed pattacini closed 8 years ago

pattacini commented 8 years ago

The T0 matrix is brought within the tripod parameters structure, so that the forward kinematics can be computed also for a generic rotation of the tripod with respect to the root frame.

@barbalberto, by default T0=yarp::math::eye(4,4); but you should make this configurable. The new default value of T0 for the torso tripod to be put in the .ini file is the outcome of the following operations:

Vector rot(4,0.0);
rot[2]=1.0; rot[3]=M_PI;
Matrix T0=axis2dcm(rot);

which is a rotation of 180 deg around z-axis.

/cc @ale-git