10 lines
427 B
Mathematica
10 lines
427 B
Mathematica
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function [max_disp] = getMaxPureDisplacement(Leg, J)
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max_disp = zeros(6, 1);
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max_disp(1) = Leg.stroke/max(abs(J*[1 0 0 0 0 0]'));
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max_disp(2) = Leg.stroke/max(abs(J*[0 1 0 0 0 0]'));
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max_disp(3) = Leg.stroke/max(abs(J*[0 0 1 0 0 0]'));
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max_disp(4) = Leg.stroke/max(abs(J*[0 0 0 1 0 0]'));
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max_disp(5) = Leg.stroke/max(abs(J*[0 0 0 0 1 0]'));
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max_disp(6) = Leg.stroke/max(abs(J*[0 0 0 0 0 1]'));
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end
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