# hexapod_kinematics

**Repository Path**: ES_Tech/hexapod_kinematics

## Basic Information

- **Project Name**: hexapod_kinematics
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: GPL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-06-22
- **Last Updated**: 2024-06-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# hexapod_kinematics
![build](https://github.com/conroy-cheers/hexapod_kinematics/actions/workflows/cmake.yml/badge.svg)

Forward and inverse kinematics for the 6DoF, 6-UPU class of parallel manipulators referred to as the *Stewart-Gough platform*, or as *hexapods*.

Kinematics implementation derived from [LinuxCNC's `genhexkins`](https://github.com/LinuxCNC/linuxcnc/blob/v2.8.2/src/emc/kinematics/genhexkins.c) .


## Installation
Requires [Eigen 3](https://gitlab.com/libeigen/eigen).

On Ubuntu this can be installed with `sudo apt-get install libeigen3-dev`.

## Usage

See `test/test_kinematics.cpp` for examples.