bt_calgrav Struct Reference

#include <calgrav.h>

List of all members.

Public Attributes
size_t	dof
gsl_vector *	world_g
gsl_vector **	g
gsl_vector **	mu
gsl_vector **	t
gsl_vector **	pt

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Detailed Description

Robot calibrated gravity data, holding the world gravity vector, along with arrays of vectors for each moving link.

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Member Data Documentation

size_t bt_calgrav::dof

We need to know about each link's kinematics

gsl_vector** bt_calgrav::g

Gravity vector in each frame

gsl_vector** bt_calgrav::mu

First-moment vector in each frame

gsl_vector** bt_calgrav::pt

My torque vector in previous frame

gsl_vector** bt_calgrav::t

My torque vector in my frame

gsl_vector* bt_calgrav::world_g

Gravity vector in the world frame. This is initialized to < 0, 0, -9.805 > in bt_calgrav_create().

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The documentation for this struct was generated from the following file:

• include/barrett/cdlbt/calgrav.h