puma / fk.c

Diff from to
  * 4. Rotate by a about the old x axis.
  * This does not handle cross coupling!
+ *
+ * Note that for the PUMA the straight-up home position is
+ * [0, -90, 90, 0, 0, 0], not all zeros.  This is since the X
+ * axis is aligned with the horizontal plane.
 typedef struct {
 	double alpha; // rotation around old x axis
Tip: Filter by directory path e.g. /media app.js to search for public/media/app.js.
Tip: Use camelCasing e.g. ProjME to search for
Tip: Filter by extension type e.g. /repo .js to search for all .js files in the /repo directory.
Tip: Separate your search with spaces e.g. /ssh pom.xml to search for src/ssh/pom.xml.
Tip: Use ↑ and ↓ arrow keys to navigate and return to view the file.
Tip: You can also navigate files with Ctrl+j (next) and Ctrl+k (previous) and view the file with Ctrl+o.
Tip: You can also navigate files with Alt+j (next) and Alt+k (previous) and view the file with Alt+o.