| <code>[ traj_alpha ] = rr_inv_kin( obj, a_traj_ws, a_time, a_ref_frame, a_ee_frame )</code> | <code>[ traj_alpha ] = rr_inv_kin( obj, a_traj_ws, a_time, a_ref_frame, a_ee_frame )</code> |
| This method will take a desired (workspace) trajectory of your (selected) foot frame, relative to the **TORSO** frame, and produce a joint trajectory to accomplish it. | This method will take a desired (workspace) trajectory of your (selected) foot frame, relative to the **TORSO** frame, and produces a joint trajectory to accomplish it. |
| The same assumptions, from #1, hold for inputs ''a_ref_frame'' and ''a_ee_frame''. ''a_traj_ws'' represents the foot frame trajectory (with respect to the ''a_ref_frame'' = **TORSO** frame). This is a $3 \times T$ matrix, [ $x$ ; $y$ ; $\theta$ ], where $T$ is the number of waypoints comprising your trajectory and $x$, $y$, $\theta$, here, are $1 \times T$ vectors. ''a_time'' is a $1 \times T$ vector holding timestamps associated with each waypoint in ''a_traj_ws''. The output, ''traj_alpha'', then, is a $3 \times T$ vector that should look something like [ $\alpha_{hip}$ ; $\alpha_{knee}$ ; $\alpha_{ankle}$ ] where $\alpha_{hip}$, $\alpha_{knee}$ and $\alpha_{ankle}$ are $1 \times T$ vectors containing joint trajectories for each joint that is capable of affecting motion of the selected foot frame. | The same assumptions, from #1, hold for inputs ''a_ref_frame'' and ''a_ee_frame''. ''a_traj_ws'' represents the foot frame trajectory (with respect to the ''a_ref_frame'' = **TORSO** frame). This is a $3 \times T$ matrix, [ $x$ ; $y$ ; $\theta$ ], where $T$ is the number of waypoints comprising your trajectory and $x$, $y$, $\theta$, here, are $1 \times T$ vectors. ''a_time'' is a $1 \times T$ vector holding timestamps associated with each waypoint in ''a_traj_ws''. The output, ''traj_alpha'', then, is a $3 \times T$ vector that should look something like [ $\alpha_{hip}$ ; $\alpha_{knee}$ ; $\alpha_{ankle}$ ] where $\alpha_{hip}$, $\alpha_{knee}$ and $\alpha_{ankle}$ are $1 \times T$ vectors containing joint trajectories for each joint that is capable of affecting motion of the selected foot frame. |
