Struct DHParams

Defined in File robot.hpp

Struct Documentation

struct DHParams

Holds the (“modified”) DH params for a single joint.

Public Functions

Eigen::Isometry3d T(const double joint_angle) const

Create the homogenous transformation matrix representing the pose of this joint wrt its parent. In other words, the transform that takes data in the frame L_i and sends it to the frame L_{i-1}.

Parameters:: joint_angle – The angle of the joint.
Returns:: The resulting transformation matrix. Or rather, a Isometry3d representing the same.

Public Members

double a = 0

double alpha = 0

double r = 0

double theta = 0