Struct TKinematicLink

• Defined in File CKinematicChain.h

Struct Documentation

struct TKinematicLink

An individual kinematic chain element (one link) which builds up a CKinematicChain. The parameterization of the SE(3) transformation from the starting point to the end point follows a Denavit-Hartenberg standard parameterization: [theta, d, a, alpha].

Public Functions

inline TKinematicLink(double _theta, double _d, double _a, double _alpha, bool _is_prismatic)

TKinematicLink() = default

Public Members

double theta = {0}

Rotation from X_i to X_{i+1} (radians)

double d = {0}

Distance along Z_i to the common normal between Z_i and Z_{i+1}

double a = {0}

Distance along the common normal (in the same direction than the new X_{i+1})

double alpha = {0}

Rotation along X_{i+1} to transform Z_i into Z_{i+1}

bool is_prismatic = {false}

“false”: Is revolute (“q_i” is “theta”), “true”: is prismatic (“q_i” is “d”)