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fwd kin full implementation

Amy Blank requested to merge feature/fwd-kin-full-implementation into devel

Description

Filled in full implementation of forward kinematics, ported from mainboard firmware. This is in preparation for dynamics calculations that will be used to estimate patient effort.

What to focus on

  • put content here.

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Issues

What issues does this fix?

  • Fixes #issue-number
Edited by Chris Woodall

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