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Ry0/distance.py

Created February 11, 2017 05:26
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motoman sia5の最大距離(関節角の総和)を確認するやつ
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distance.py
import math
s_axis_upper_limit= 179.99999*math.pi/180.0*0.95
s_axis_lower_limit= -s_axis_upper_limit
l_axis_upper_limit= 110.0*math.pi/180.0*0.95
l_axis_lower_limit= -l_axis_upper_limit
e_axis_upper_limit= 170.0*math.pi/180.0*0.95
e_axis_lower_limit= -e_axis_upper_limit
u_axis_upper_limit= 115.0*math.pi/180.0*0.95
u_axis_lower_limit= -90.0*math.pi/180.0*0.95
r_axis_upper_limit= 179.99999*math.pi/180.0*0.95
r_axis_lower_limit= -r_axis_upper_limit
b_axis_upper_limit= 110.0*math.pi/180.0*0.95
b_axis_lower_limit= -b_axis_upper_limit
t_axis_upper_limit= 179.99999*math.pi/180.0*0.95
t_axis_lower_limit= -t_axis_upper_limit
distance = (s_axis_upper_limit-s_axis_lower_limit) + (l_axis_upper_limit-l_axis_lower_limit) + (e_axis_upper_limit-e_axis_lower_limit) + (u_axis_upper_limit-u_axis_lower_limit) + (r_axis_upper_limit-r_axis_lower_limit) + (b_axis_upper_limit-b_axis_lower_limit) + (t_axis_upper_limit-t_axis_lower_limit)
print distance
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