MRPT  1.9.9
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>>().




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