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op3_kinematics_dynamics
link_data.h
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/*******************************************************************************
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* Copyright 2017 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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/* Author: SCH */
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#ifndef LINK_DATA_H_
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#define LINK_DATA_H_
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#include <eigen3/Eigen/Eigen>
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#include "
robotis_math/robotis_math.h
"
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namespace
robotis_op
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{
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class
LinkData
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{
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public
:
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LinkData
();
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~LinkData
();
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std::string
name_
;
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int
parent_
;
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int
sibling_
;
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int
child_
;
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double
mass_
;
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Eigen::MatrixXd
relative_position_
;
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Eigen::MatrixXd
joint_axis_
;
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Eigen::MatrixXd
center_of_mass_
;
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Eigen::MatrixXd
inertia_
;
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double
joint_limit_max_
;
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double
joint_limit_min_
;
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double
joint_angle_
;
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double
joint_velocity_
;
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double
joint_acceleration_
;
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Eigen::MatrixXd
position_
;
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Eigen::MatrixXd
orientation_
;
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Eigen::MatrixXd
transformation_
;
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};
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}
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#endif
/* LINK_DATA_H_ */
robotis_op::LinkData::joint_axis_
Eigen::MatrixXd joint_axis_
Definition:
link_data.h:44
robotis_op::LinkData::sibling_
int sibling_
Definition:
link_data.h:38
robotis_op::LinkData::name_
std::string name_
Definition:
link_data.h:35
robotis_op::LinkData::LinkData
LinkData()
Definition:
link_data.cpp:24
robotis_op::LinkData::joint_angle_
double joint_angle_
Definition:
link_data.h:51
robotis_op::LinkData::joint_limit_min_
double joint_limit_min_
Definition:
link_data.h:49
robotis_op::LinkData::relative_position_
Eigen::MatrixXd relative_position_
Definition:
link_data.h:43
robotis_op::LinkData::joint_acceleration_
double joint_acceleration_
Definition:
link_data.h:53
robotis_op::LinkData
Definition:
link_data.h:29
robotis_op::LinkData::center_of_mass_
Eigen::MatrixXd center_of_mass_
Definition:
link_data.h:45
robotis_op
Definition:
link_data.h:26
robotis_op::LinkData::child_
int child_
Definition:
link_data.h:39
robotis_op::LinkData::mass_
double mass_
Definition:
link_data.h:41
robotis_math.h
robotis_op::LinkData::joint_limit_max_
double joint_limit_max_
Definition:
link_data.h:48
robotis_op::LinkData::position_
Eigen::MatrixXd position_
Definition:
link_data.h:55
robotis_op::LinkData::transformation_
Eigen::MatrixXd transformation_
Definition:
link_data.h:57
robotis_op::LinkData::inertia_
Eigen::MatrixXd inertia_
Definition:
link_data.h:46
robotis_op::LinkData::~LinkData
~LinkData()
Definition:
link_data.cpp:51
robotis_op::LinkData::joint_velocity_
double joint_velocity_
Definition:
link_data.h:52
robotis_op::LinkData::orientation_
Eigen::MatrixXd orientation_
Definition:
link_data.h:56
robotis_op::LinkData::parent_
int parent_
Definition:
link_data.h:37
op3_kinematics_dynamics
Author(s): SCH
, Kayman
, Jay Song
autogenerated on Mon Jun 10 2019 14:41:13