struct mrpt::kinematics::TKinematicLink

Overview

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].

#include <mrpt/kinematics/CKinematicChain.h>

struct TKinematicLink
{
    // fields

    double theta {0};
    double d {0};
    double a {0};
    double alpha {0};
    bool is_prismatic {false};

    // construction

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

    TKinematicLink();
};

Fields

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”)