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Moved the darwin math and kinematics modules to the darwin firmware repo.

Merged Moved the darwin math and kinematics modules to the darwin firmware repo.
darwin_libs into master
Merged Sergi Hernandez requested to merge darwin_libs into master
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dynamixel_manager/include/modules/old/darwin_kinematics.h deleted 100755 → 0
+ 0
− 24
#ifndef _DARWIN_KINEMATICS_H
#define _DARWIN_KINEMATICS_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32f1xx.h"
#define DARWIN_PELVIS_LENGTH 29.0 //mm
#define DARWIN_LEG_SIDE_OFFSET 37.0 //mm
#define DARWIN_THIGH_LENGTH 93.0 //mm
#define DARWIN_CALF_LENGTH 93.0 //mm
#define DARWIN_ANKLE_LENGTH 33.5 //mm
#define DARWIN_LEG_LENGTH (DARWIN_THIGH_LENGTH + DARWIN_CALF_LENGTH + DARWIN_ANKLE_LENGTH) //mm (THIGH_LENGTH + CALF_LENGTH + ANKLE_LENGTH)
// public functions
uint8_t darwin_leg_ik(float *out, float x, float y, float z, float a, float b, float c);
#ifdef __cplusplus
}
#endif
#endif