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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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 <span id="projectnumber">3.1.6</span>
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<a href="create__robot__model_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "<a class="code" href="create__robot__model_8hh.html">create_robot_model.hh</a>"</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <math.h></span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <string></span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <string.h></span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="create__robot__model_8hh.html#abc42856d9c4855c8d625e245b0d7fed8"> 11</a></span> <a class="code" href="structlmc__robot__model__config.html">lmc_robot_model_config_t</a> <a class="code" href="create__robot__model_8cc.html#abc42856d9c4855c8d625e245b0d7fed8">createLM3Config</a>()</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> {</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <a class="code" href="structlmc__robot__model__config.html">lmc_robot_model_config_t</a> config;</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a> = 0;</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg1;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 0;</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.20783;</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0046788615;</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0038871362;</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.0026814944;</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0.0012331685;</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 1.62959;</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = -0.0211;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.0373;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg1;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg2;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 1.5708;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0;</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0026298021;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.035805861;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.035456253;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0.00001584774;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0.0001558092;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0.0012331685;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 2.08773;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = -0.1357;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = 0.1183;</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg2;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg3;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = -0.28;</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 0;</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0;</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0023124466;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.021781944;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.021572133;</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = -0.0028543618;</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0;</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 1.77865;</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = -0.0875;</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0;</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = 0.0302;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg3;</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg4;</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = -0.26;</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 0;</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.123697;</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0016440429;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0016191422;</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.00063341615;</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = -0.000299607;</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 0.88106;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0.0094;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.04384;</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg4;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg5;</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 1.5708;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.09843;</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0016440429;</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0016191422;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.00063341615;</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = -0.000299607;</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 0.88106;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0.0094;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.04384;</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg5;</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg6;</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = -1.5708;</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.08343;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0005491116;</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0005490523;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.0004332903;</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 0.59279;</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0.0094;</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.048134;</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg6;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">return</span> config;</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> }</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <a class="code" href="structlmc__robot__model__config.html">lmc_robot_model_config_t</a> </div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="create__robot__model_8hh.html#af59f6b8f0ffcf9cc5eea1ae9c4f293f9"> 123</a></span> <a class="code" href="create__robot__model_8cc.html#af59f6b8f0ffcf9cc5eea1ae9c4f293f9">createMPLebaiRobotModelConfig</a>() {</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> </div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="structlmc__robot__model__config.html">lmc_robot_model_config_t</a> config;</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a> = 0;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg1;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 0;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.21583;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  seg1.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0046788615;</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0038871362;</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.0026814944;</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0.0012331685;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 1.62959;</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = -0.0211;</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  seg1.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.0373;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg1;</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg2;</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = M_PI / 2.0;</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0;</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  seg2.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0026298021;</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.035805861;</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.035456253;</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0.00001584774;</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0.0001558092;</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0.0012331685;</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 2.08773;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = -0.1357;</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0;</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  seg2.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = 0.1183;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg2;</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg3;</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = -0.28;</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 0;</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0;</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  seg3.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0023124466;</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.021781944;</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.021572133;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = -0.0028543618;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0;</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 1.77865;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = -0.0875;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0;</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  seg3.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = 0.0302;</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg3;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg4;</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = -0.26;</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = 0;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.12063;</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  seg4.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0016440429;</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0016191422;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.00063341615;</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = -0.000299607;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 0.88106;</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0.0094;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  seg4.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.04384;</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg4;</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg5;</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = M_PI / 2.0;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.09833;</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  seg5.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0016440429;</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0016191422;</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.00063341615;</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = -0.000299607;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 0.88106;</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0.0094;</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  seg5.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.04384;</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg5;</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="structlmc__link__config.html">lmc_link_config_t</a> seg6;</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">a</a> = 0;</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">alpha</a> = -M_PI / 2.0;</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">d</a> = 0.08343;</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  seg6.<a class="code" href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">dh</a>.<a class="code" href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">theta</a> = 0;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">ixx</a> = 0.0005491116;</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">iyy</a> = 0.0005490523;</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">izz</a> = 0.0004332903;</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">ixy</a> = 0;</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">ixz</a> = 0;</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">iyz</a> = 0;</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">mass</a> = 0.59279;</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">x</a> = 0;</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">y</a> = 0.0094;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  seg6.<a class="code" href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">dyn</a>.<a class="code" href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">com</a>.<a class="code" href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">z</a> = -0.048134;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  config.<a class="code" href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">segments</a>[config.<a class="code" href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">segments_size</a>++] = seg6;</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[0], std::string(<span class="stringliteral">"urdf/base_link.stl"</span>).c_str());</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[1], std::string(<span class="stringliteral">"urdf/link1.stl"</span>).c_str());</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[2], std::string(<span class="stringliteral">"urdf/link2.stl"</span>).c_str());</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[3], std::string(<span class="stringliteral">"urdf/link3.stl"</span>).c_str());</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[4], std::string(<span class="stringliteral">"urdf/link4.stl"</span>).c_str());</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[5], std::string(<span class="stringliteral">"urdf/link5.stl"</span>).c_str());</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[6], std::string(<span class="stringliteral">"urdf/link6.stl"</span>).c_str());</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  strcpy(config.<a class="code" href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">segment_stl_files</a>[7], std::string(<span class="stringliteral">""</span>).c_str());</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">return</span> config;</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span> }</div><div class="ttc" id="structlmc__translation_html_ab927965981178aa1fba979a37168db2a"><div class="ttname"><a href="structlmc__translation.html#ab927965981178aa1fba979a37168db2a">lmc_translation::y</a></div><div class="ttdeci">double y</div><div class="ttdef"><b>Definition:</b> <a href="lmc__math_8h_source.html#l00031">lmc_math.h:31</a></div></div>
<div class="ttc" id="structlmc__link__dh__config_html_a1031d0e0a97a340abfe0a6ab9e831045"><div class="ttname"><a href="structlmc__link__dh__config.html#a1031d0e0a97a340abfe0a6ab9e831045">lmc_link_dh_config::a</a></div><div class="ttdeci">double a</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00029">lmc_robot_model_config.h:29</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_a12f83d10c7f220af41670214d7330c97"><div class="ttname"><a href="structlmc__link__dyn__config.html#a12f83d10c7f220af41670214d7330c97">lmc_link_dyn_config::ixz</a></div><div class="ttdeci">double ixz</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00044">lmc_robot_model_config.h:44</a></div></div>
<div class="ttc" id="structlmc__robot__model__config_html_a670dbb305f5b7335e4fddf07810b6adf"><div class="ttname"><a href="structlmc__robot__model__config.html#a670dbb305f5b7335e4fddf07810b6adf">lmc_robot_model_config::segment_stl_files</a></div><div class="ttdeci">char segment_stl_files[LMC_MAX_LINK_NUM][LMC_MAX_STRING_LEN]</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00066">lmc_robot_model_config.h:66</a></div></div>
<div class="ttc" id="create__robot__model_8cc_html_af59f6b8f0ffcf9cc5eea1ae9c4f293f9"><div class="ttname"><a href="create__robot__model_8cc.html#af59f6b8f0ffcf9cc5eea1ae9c4f293f9">createMPLebaiRobotModelConfig</a></div><div class="ttdeci">lmc_robot_model_config_t createMPLebaiRobotModelConfig()</div><div class="ttdoc">Create a robot model config instance for motion planner example. </div><div class="ttdef"><b>Definition:</b> <a href="create__robot__model_8cc_source.html#l00123">create_robot_model.cc:123</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_a8710ecf1a17366c7b903f353cfaec660"><div class="ttname"><a href="structlmc__link__dyn__config.html#a8710ecf1a17366c7b903f353cfaec660">lmc_link_dyn_config::ixy</a></div><div class="ttdeci">double ixy</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00043">lmc_robot_model_config.h:43</a></div></div>
<div class="ttc" id="structlmc__link__config_html_a2154b17d74c4874c0677b5da4d709f93"><div class="ttname"><a href="structlmc__link__config.html#a2154b17d74c4874c0677b5da4d709f93">lmc_link_config::dh</a></div><div class="ttdeci">lmc_link_dh_config_t dh</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00055">lmc_robot_model_config.h:55</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_a244bf42c46054cf1113be44d55f2156d"><div class="ttname"><a href="structlmc__link__dyn__config.html#a244bf42c46054cf1113be44d55f2156d">lmc_link_dyn_config::mass</a></div><div class="ttdeci">double mass</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00046">lmc_robot_model_config.h:46</a></div></div>
<div class="ttc" id="structlmc__link__config_html"><div class="ttname"><a href="structlmc__link__config.html">lmc_link_config</a></div><div class="ttdoc">Overall parameter for a single link,. </div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00054">lmc_robot_model_config.h:54</a></div></div>
<div class="ttc" id="structlmc__robot__model__config_html_a9dae5bfd076feac780d3cff9f08af54a"><div class="ttname"><a href="structlmc__robot__model__config.html#a9dae5bfd076feac780d3cff9f08af54a">lmc_robot_model_config::segments_size</a></div><div class="ttdeci">size_t segments_size</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00065">lmc_robot_model_config.h:65</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_aa0f79311b17706a8ed362728cde46313"><div class="ttname"><a href="structlmc__link__dyn__config.html#aa0f79311b17706a8ed362728cde46313">lmc_link_dyn_config::iyy</a></div><div class="ttdeci">double iyy</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00041">lmc_robot_model_config.h:41</a></div></div>
<div class="ttc" id="structlmc__robot__model__config_html_a05949062260b545bb54c558da130efd7"><div class="ttname"><a href="structlmc__robot__model__config.html#a05949062260b545bb54c558da130efd7">lmc_robot_model_config::segments</a></div><div class="ttdeci">lmc_link_config_t segments[LMC_MAX_LINK_NUM]</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00064">lmc_robot_model_config.h:64</a></div></div>
<div class="ttc" id="structlmc__robot__model__config_html"><div class="ttname"><a href="structlmc__robot__model__config.html">lmc_robot_model_config</a></div><div class="ttdoc">Overall parameters for a robot model. </div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00063">lmc_robot_model_config.h:63</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_aabbd78d3be2c5d27667b333b498db937"><div class="ttname"><a href="structlmc__link__dyn__config.html#aabbd78d3be2c5d27667b333b498db937">lmc_link_dyn_config::com</a></div><div class="ttdeci">lmc_translation_t com</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00047">lmc_robot_model_config.h:47</a></div></div>
<div class="ttc" id="structlmc__link__dh__config_html_aca81c35c21e3a5f7f3a8d24504e76664"><div class="ttname"><a href="structlmc__link__dh__config.html#aca81c35c21e3a5f7f3a8d24504e76664">lmc_link_dh_config::theta</a></div><div class="ttdeci">double theta</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00032">lmc_robot_model_config.h:32</a></div></div>
<div class="ttc" id="structlmc__link__dh__config_html_a20f4c4490bc8ecbdd1ffcb79acce6035"><div class="ttname"><a href="structlmc__link__dh__config.html#a20f4c4490bc8ecbdd1ffcb79acce6035">lmc_link_dh_config::alpha</a></div><div class="ttdeci">double alpha</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00030">lmc_robot_model_config.h:30</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_af14520834e93e2644e3553652921b86a"><div class="ttname"><a href="structlmc__link__dyn__config.html#af14520834e93e2644e3553652921b86a">lmc_link_dyn_config::ixx</a></div><div class="ttdeci">double ixx</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00040">lmc_robot_model_config.h:40</a></div></div>
<div class="ttc" id="structlmc__translation_html_ab3e6ed577a7c669c19de1f9c1b46c872"><div class="ttname"><a href="structlmc__translation.html#ab3e6ed577a7c669c19de1f9c1b46c872">lmc_translation::z</a></div><div class="ttdeci">double z</div><div class="ttdef"><b>Definition:</b> <a href="lmc__math_8h_source.html#l00032">lmc_math.h:32</a></div></div>
<div class="ttc" id="structlmc__translation_html_af88b946fb90d5f08b5fb740c70e98c10"><div class="ttname"><a href="structlmc__translation.html#af88b946fb90d5f08b5fb740c70e98c10">lmc_translation::x</a></div><div class="ttdeci">double x</div><div class="ttdef"><b>Definition:</b> <a href="lmc__math_8h_source.html#l00030">lmc_math.h:30</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_a15432a32c32e3226088c6d95962e330b"><div class="ttname"><a href="structlmc__link__dyn__config.html#a15432a32c32e3226088c6d95962e330b">lmc_link_dyn_config::izz</a></div><div class="ttdeci">double izz</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00042">lmc_robot_model_config.h:42</a></div></div>
<div class="ttc" id="create__robot__model_8hh_html"><div class="ttname"><a href="create__robot__model_8hh.html">create_robot_model.hh</a></div><div class="ttdoc">create robot model function. </div></div>
<div class="ttc" id="structlmc__link__config_html_a47ff51730abdabe0584bee72805e1a45"><div class="ttname"><a href="structlmc__link__config.html#a47ff51730abdabe0584bee72805e1a45">lmc_link_config::dyn</a></div><div class="ttdeci">lmc_link_dyn_config_t dyn</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00056">lmc_robot_model_config.h:56</a></div></div>
<div class="ttc" id="create__robot__model_8cc_html_abc42856d9c4855c8d625e245b0d7fed8"><div class="ttname"><a href="create__robot__model_8cc.html#abc42856d9c4855c8d625e245b0d7fed8">createLM3Config</a></div><div class="ttdeci">lmc_robot_model_config_t createLM3Config()</div><div class="ttdoc">Create a robot model config instance. </div><div class="ttdef"><b>Definition:</b> <a href="create__robot__model_8cc_source.html#l00011">create_robot_model.cc:11</a></div></div>
<div class="ttc" id="structlmc__link__dyn__config_html_a9da19f3c0826e1d8251253e307c6bf53"><div class="ttname"><a href="structlmc__link__dyn__config.html#a9da19f3c0826e1d8251253e307c6bf53">lmc_link_dyn_config::iyz</a></div><div class="ttdeci">double iyz</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00045">lmc_robot_model_config.h:45</a></div></div>
<div class="ttc" id="structlmc__link__dh__config_html_a873684cefeb665f3d5e6b495de57fc0d"><div class="ttname"><a href="structlmc__link__dh__config.html#a873684cefeb665f3d5e6b495de57fc0d">lmc_link_dh_config::d</a></div><div class="ttdeci">double d</div><div class="ttdef"><b>Definition:</b> <a href="lmc__robot__model__config_8h_source.html#l00031">lmc_robot_model_config.h:31</a></div></div>
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