Go to the documentation of this file. 24 #ifndef THORMANG3_KINEMATICS_DYNAMICS_KINEMATICS_DYNAMICS_DEFINE_H_ 25 #define THORMANG3_KINEMATICS_DYNAMICS_KINEMATICS_DYNAMICS_DEFINE_H_ 30 #define MAX_JOINT_ID (31) // 29 + 2 31 #define ALL_JOINT_ID (46) 33 #define MAX_ARM_ID (7) 34 #define MAX_LEG_ID (6) 37 #define ID_HEAD_END (29) 41 #define ID_R_ARM_START (1) 42 #define ID_L_ARM_START (2) 43 #define ID_R_ARM_END (35) 44 #define ID_L_ARM_END (34) 46 #define ID_R_LEG_START (15) 47 #define ID_L_LEG_START (16) 48 #define ID_R_LEG_END (45) 49 #define ID_L_LEG_END (46) 51 #define ID_R_LEG_FT (37) 52 #define ID_L_LEG_FT (36) 55 #define ID_PELVIS (44) 57 #define ID_PELVIS_POS_X (38) 58 #define ID_PELVIS_POS_Y (39) 59 #define ID_PELVIS_POS_Z (40) 60 #define ID_PELVIS_ROT_X (41) 61 #define ID_PELVIS_ROT_Y (42) 62 #define ID_PELVIS_ROT_Z (43) 65 #define GRAVITY_ACCELERATION (9.8)