parameters: (leg_pose)
return_statement: return (x, -y)
docstring: The forward kinematics.
docstring_summary: The forward kinematics.
docstring_tokens: The forward kinematics .
function: def leg_pose_to_foot_position(leg_pose):
    """The forward kinematics."""
    l1 = _UPPER_LEG_LEN
    l2 = _LOWER_SHORT_LEG_LEN
    l3 = _LOWER_LONG_LEG_LEN
  
    ext = leg_pose[1]
    alpha = math.asin(l1 * math.sin(ext) / l2)
  
    sw = leg_pose[0]
    x = l3 * math.sin(alpha + sw) - l1 * math.sin(ext + sw)
    y = l3 * math.cos(alpha + sw) - l1 * math.cos(ext + sw)
  
    return (x, -y)
function_tokens: def leg_pose_to_foot_position ( leg_pose ) : l1 = _UPPER_LEG_LEN l2 = _LOWER_SHORT_LEG_LEN l3 = _LOWER_LONG_LEG_LEN ext = leg_pose [ 1 ] alpha = math . asin ( l1 * math . sin ( ext ) / l2 ) sw = leg_pose [ 0 ] x = l3 * math . sin ( alpha + sw ) - l1 * math . sin ( ext + sw ) y = l3 * math . cos ( alpha + sw ) - l1 * math . cos ( ext + sw ) return ( x , - y )