mrpt::kinematics::TKinematicLink Struct Reference

Detailed Description

An individual kinematic chain element (one link) which builds up a CKinematicChain.

The parameterization of the SE(3) transformation from the starting point to the end point follows a Denavit-Hartenberg standard parameterization: [theta, d, a, alpha].

Definition at line 27 of file CKinematicChain.h.

#include <mrpt/kinematics/CKinematicChain.h>

Public Member Functions
	TKinematicLink (double _theta, double _d, double _a, double _alpha, bool _is_prismatic)
	TKinematicLink ()=default

Public Attributes
double	theta {0}
	Rotation from X_i to X_{i+1} (radians) More...
double	d {0}
	Distance along Z_i to the common normal between Z_i and Z_{i+1}. More...
double	a {0}
	Distance along the common normal (in the same direction than the new X_{i+1}) More...
double	alpha {0}
	Rotation along X_{i+1} to transform Z_i into Z_{i+1}. More...
bool	is_prismatic {false}
	"false": Is revolute ("q_i" is "theta"), "true": is prismatic ("q_i" is "d") More...

Constructor & Destructor Documentation

TKinematicLink() [1/2]

mrpt::kinematics::TKinematicLink::TKinematicLink ( double  _theta, double  _d, double  _a, double  _alpha, bool  _is_prismatic  )

inline

Definition at line 43 of file CKinematicChain.h.

TKinematicLink() [2/2]

mrpt::kinematics::TKinematicLink::TKinematicLink ( )

default

Member Data Documentation

a

double mrpt::kinematics::TKinematicLink::a {0}

Distance along the common normal (in the same direction than the new X_{i+1})

Definition at line 35 of file CKinematicChain.h.

Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().

alpha

double mrpt::kinematics::TKinematicLink::alpha {0}

Rotation along X_{i+1} to transform Z_i into Z_{i+1}.

Definition at line 37 of file CKinematicChain.h.

Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().

d

double mrpt::kinematics::TKinematicLink::d {0}

Distance along Z_i to the common normal between Z_i and Z_{i+1}.

Definition at line 32 of file CKinematicChain.h.

Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().

is_prismatic

bool mrpt::kinematics::TKinematicLink::is_prismatic {false}

"false": Is revolute ("q_i" is "theta"), "true": is prismatic ("q_i" is "d")

Definition at line 41 of file CKinematicChain.h.

Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().

theta

double mrpt::kinematics::TKinematicLink::theta {0}

Rotation from X_i to X_{i+1} (radians)

Definition at line 30 of file CKinematicChain.h.

Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().