Go to the documentation of this file. 19 #ifndef OP3_KINEMATICS_DYNAMICS_DEFINE_H_ 20 #define OP3_KINEMATICS_DYNAMICS_DEFINE_H_ 24 #define MAX_JOINT_ID (20) 25 #define ALL_JOINT_ID (31) 27 #define MAX_ARM_ID (3) 28 #define MAX_LEG_ID (6) 31 #define ID_HEAD_END (20) 35 #define ID_R_ARM_START (1) 36 #define ID_L_ARM_START (2) 37 #define ID_R_ARM_END (21) 38 #define ID_L_ARM_END (22) 40 #define ID_R_LEG_START (7) 41 #define ID_L_LEG_START (8) 42 #define ID_R_LEG_END (31) 43 #define ID_L_LEG_END (30) 45 #define GRAVITY_ACCELERATION (9.8)