bt_kinematics_link Struct Reference

#include <kinematics.h>

List of all members.

Public Attributes
Doubly-linked for convenience
struct bt_kinematics_link *	next
struct bt_kinematics_link *	prev
Denavit-Hartenberg Parameters
double	alpha
double	theta
double	a
double	d
Cached D-H values
double	cos_alpha
double	sin_alpha
4x4 Homogeneous Transform Matrices
gsl_matrix *	trans_to_prev
gsl_matrix *	trans_to_world
Vector views into the trans_to_prev matrix
gsl_matrix *	rot_to_prev
gsl_vector *	prev_axis_z
gsl_vector *	prev_origin_pos
Vector views into the trans_to_world matrix
gsl_matrix *	rot_to_world
gsl_vector *	axis_z
gsl_vector *	origin_pos

---

Detailed Description

Link-specific data, including geometric parameters, transform matrices, and pointers to adjacent links. For details about the kinematics module, see bt_kinematics.

---

Member Data Documentation

gsl_vector* bt_kinematics_link::axis_z

z axis unit vector, in base coords

struct bt_kinematics_link* bt_kinematics_link::next

The next link in the chain

gsl_vector* bt_kinematics_link::origin_pos

Origin Position, in base coords

struct bt_kinematics_link* bt_kinematics_link::prev

The previous link in the chain

gsl_vector* bt_kinematics_link::prev_axis_z

My joint's rotation axis, in my coords

gsl_vector* bt_kinematics_link::prev_origin_pos

My origin position, in prev coords

gsl_matrix* bt_kinematics_link::rot_to_prev

Rotation matrix to the previous frame

gsl_matrix* bt_kinematics_link::rot_to_world

Rotation matrix to the world frame

gsl_matrix* bt_kinematics_link::trans_to_prev

transform matrix to previous frame

gsl_matrix* bt_kinematics_link::trans_to_world

transform matrix to world frame

---

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

• include/barrett/cdlbt/kinematics.h