Struct DHSegment

• Defined in File calibration.hpp

Struct Documentation

struct DHSegment

An internal representation of a DH-parametrized link.

Each segment consists of parameters a, d, alpha and theta.

Public Functions

inline DHSegment(const double d, const double a, const double theta, const double alpha)

Creates an element with defined elements.

inline DHSegment()

Creates a Segment with all elements equal to zero.

inline DHSegment operator+(const DHSegment &other)

Adds another segment element-wise (a+a, d+d, alpha+alpha, theta+theta)

Parameters:

other – Other segment to add

Returns:

Segment consisting of element-wise addition of this and other

Public Members

double d_

double a_

double theta_

double alpha_