Class Link

Defined in File link.hpp

Class Documentation

class Link

Public Functions

inline Link()

inline void set_q_within_limit(const double &desired_q)

Public Members

std::string name

int sibling

int child

int parent

Eigen::Vector3d p

Eigen::Matrix3d R

Eigen::Vector3d v

Eigen::Vector3d w

double q

double dq

double ddq

Eigen::Vector3d a

Eigen::Vector3d b

double m

Eigen::Vector3d c

Eigen::Matrix3d I

int dxl_id

double min_q

double max_q