| StewartPlatform.Types.DiscParameters | base | | Base data |
| StewartPlatform.Types.DiscParameters | platform | | Platform data |
| Modelica.Mechanics.MultiBody.Types.RotationSequence | sequence | {1, 2, 3} | Sequence of rotations from base frame to platform frame along axis sequence[i] |
| SI.Angle[3] | angles | {from_deg(0), from_deg(0), from_deg(0)} | Rotation angles around the axes defined in 'sequence' |
| SI.Position[3] | position | {0, 0, 0.15} | Coordinates of the platform frame resolved in base frame |
| Real[6,3] | leg | legsDirections(base, platform, position, sequence, angles, true) | |
| SI.Position[6,3] | B_b | jointsCoordinates(base) | |
| SI.Position[6,3] | P_p | jointsCoordinates(platform) | |
| SI.Position[6,3] | platformCenter | -1*changeRefFrame(P_p, sequence, angles) | |
| SI.Length[6] | legs_Length | legsLength(base, platform, position, sequence, angles) | |
| TM.Orientation | T | TM.axesRotations(sequence, angles) | |
| Real[3] | v1 | TM.resolve1(T, {1, 0, 0}) | |
changeRefFrame