bt_kinematics Struct Reference

#include <kinematics.h>

List of all members.

Public Attributes
int	dof
int	nlinks
struct bt_kinematics_link **	link_array
struct bt_kinematics_link *	base
struct bt_kinematics_link **	link
struct bt_kinematics_link *	toolplate
struct bt_kinematics_link *	tool
gsl_matrix *	tool_jacobian
gsl_matrix *	tool_jacobian_linear
gsl_matrix *	tool_jacobian_angular
gsl_vector *	tool_velocity
gsl_vector *	tool_velocity_angular
gsl_vector *	temp_v3

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Detailed Description

Robot kinematics data, holding an array of links, and a set of tool jacobians.

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

• include/barrett/cdlbt/kinematics.h