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ccl_rob_forward

PURPOSE

r = ccl_rob_forward (q,L)

SYNOPSIS

function r = ccl_rob_forward (q, L)

DESCRIPTION

 r = ccl_rob_forward (q,L)
 Forward kinematic simulation
 Input:
   q               Joint state variable
   L               Link length
 Output:
   r               Task space variable

CROSS-REFERENCE INFORMATION

This function calls:

This function is called by:

ccl_learna_retlambda lambda = ccl_learna_retlambda(q,L)
ccl_rob_vis_sbs ccl_rob_vis_sbs (settings)

SOURCE CODE

0001 function r = ccl_rob_forward (q, L)
0002 % r = ccl_rob_forward (q,L)
0003 % Forward kinematic simulation
0004 % Input:
0005 %   q               Joint state variable
0006 %   L               Link length
0007 % Output:
0008 %   r               Task space variable
0009 r    = zeros(2,1) ;
0010 r(1) = L(1)*cos(q(1,:)) + L(2)*cos(q(1,:)+q(2,:)) ;
0011 r(2) = L(1)*sin(q(1,:)) + L(2)*sin(q(1,:)+q(2,:)) ;
0012 end