Changes between Version 16 and Version 17 of UserGuideGit

Timestamp:

Apr 6, 2016, 7:31:44 AM (10 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -45 +45 @@
 === Body coordinates system ===
 
-This coordinates system is attached to the body. It is defined in the ground coordinates system.
+This coordinates system is attached to the body. It is defined from the ground coordinates system.
 
 * the origin is at the center of the body
@@ -62 +62 @@
 * Z axis is orthogonal to X/Y
 
-To summurize, in the body coordinate system, the legs coordinates systems are just translated in the X/Y plane, and rotated arround Z.
+To summurize, from the body coordinate system, the legs coordinates systems are translated in the X/Y plane and rotated arround Z.
 
-The origin of a leg is defined as following:
+The origin of a leg is defined as following, from the robot coordinates system:
 
 [[Image(body_legs.png, 500px, nolink)]]
 
 ''Todo: improve drawing''
+
+=== Gait coordinates system ===
+
+There is the last coordinates system, which is used by the gaits, to make to robot walk.
+
+This coordinate systems is defined from the body coordinates system, and also translated along body X/Y axes, but not rotated arround Z.
 
 === Inverse Kinematic ===