From effb9ffe5b694574ebbcf66460f672d04959b062 Mon Sep 17 00:00:00 2001 From: MZandtheRaspberryPi Date: Mon, 6 Mar 2023 14:20:07 +0100 Subject: [PATCH] updating comments on leg matrix t01 to show differences between original and changed --- utilities/spot_micro_kinematics.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/utilities/spot_micro_kinematics.py b/utilities/spot_micro_kinematics.py index be9a367..9a747a2 100644 --- a/utilities/spot_micro_kinematics.py +++ b/utilities/spot_micro_kinematics.py @@ -100,7 +100,7 @@ def t_0_to_1(theta1,l1): # I believe there is a typo in the paper. The paper lists this matrix as: # # t = [ cos(theta1) -sin(theta1) 0 -l1*cos(theta1); - # sin(theta1) -cos(theta1) 0 -l1*sin(theta1); + # sin(theta1) cos(theta1) 0 -l1*sin(theta1); # 1 0 0 0; # 0 0 0 1;] # @@ -109,7 +109,7 @@ def t_0_to_1(theta1,l1): # axis's z axis is the same as the original. So I think the matrix should be: # # t = [ cos(theta1) -sin(theta1) 0 -l1*cos(theta1); - # sin(theta1) -cos(theta1) 0 -l1*sin(theta1); + # sin(theta1) cos(theta1) 0 -l1*sin(theta1); # 0 0 1 0;d # 0 0 0 1;]