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| ece4560:biped:02plotkin [2017/10/03 16:00] – typos | ece4560:biped:02plotkin [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| ''biped_frames'' should contain the SE(2) pose of every intermediate frame (or all frames, if you'd like) of the biped; making this output a cell array might be easiest. | ''biped_frames'' should contain the SE(2) pose of every intermediate frame (or all frames, if you'd like) of the biped; making this output a cell array might be easiest. |
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| This new method will replace last week's ''fk_torso_foot( ... )'' method. | This new method will replace last week's ''fwd_kinematics( ... )'' method. |
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| **2.** Add a new property to the Biped class, ''stance'', which will indicate the current reference/stance frame of the biped (eg. it may hold values of 'TORSO', 'LEFT_FOOT' or 'RIGHT_FOOT'). Add a 'setter' method, ''set_stance( obj, a_stance )'' to set this new class property. | **2.** Add a new property to the Biped class, ''stance'', which will indicate the current reference/stance frame of the biped (eg. it may hold values of 'TORSO', 'LEFT_FOOT' or 'RIGHT_FOOT'). Add a 'setter' method, ''set_stance( obj, a_stance )'' to set this new class property. |
| **3.** Update ''plotTF( obj )'' to plot your stick figure biped (and any frames) relative to the current ''stance'' frame. The ''stance'' frame's spatial pose (eg. torso, left foot or right foot) should be the identity. This method should make use of your new ''fwd_kinematics( obj, a_ref_frame )'' method. | **3.** Update ''plotTF( obj )'' to plot your stick figure biped (and any frames) relative to the current ''stance'' frame. The ''stance'' frame's spatial pose (eg. torso, left foot or right foot) should be the identity. This method should make use of your new ''fwd_kinematics( obj, a_ref_frame )'' method. |
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| Pick a joint configuration for the biped. Display a new plot of the biped (in that joint configuration) in each case where ''stance'' is set to 'TORSO', 'LEFT_FOOT' and 'RIGHT_FOOT'. | Pick a joint configuration for the biped. Display a new plot of the biped (in that joint configuration) for each case where ''stance'' is set to 'TORSO', 'LEFT_FOOT' and 'RIGHT_FOOT'. |
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| **4.** Add a new method to your Biped class: | **4.** Add a new method to your Biped class: |
