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 DenavitHartenberg standard parameterization: [theta, d, a, alpha].
Definition at line 30 of file CKinematicChain.h.
#include <mrpt/kinematics/CKinematicChain.h>
Public Member Functions  
TKinematicLink (double _theta, double _d, double _a, double _alpha, bool _is_prismatic)  
TKinematicLink ()  
Public Attributes  
double  theta 
Rotation from X_i to X_{i+1} (radians) More...  
double  d 
Distance along Z_i to the common normal between Z_i and Z_{i+1}. More...  
double  a 
Distance along the common normal (in the same direction than the new X_{i+1}) More...  
double  alpha 
Rotation along X_{i+1} to transform Z_i into Z_{i+1}. More...  
bool  is_prismatic 
"false": Is revolute ("q_i" is "theta"), "true": is prismatic ("q_i" is "d") More...  

inline 
Definition at line 39 of file CKinematicChain.h.

inline 
Definition at line 40 of file CKinematicChain.h.
double mrpt::kinematics::TKinematicLink::a 
Distance along the common normal (in the same direction than the new X_{i+1})
Definition at line 34 of file CKinematicChain.h.
Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().
double mrpt::kinematics::TKinematicLink::alpha 
Rotation along X_{i+1} to transform Z_i into Z_{i+1}.
Definition at line 35 of file CKinematicChain.h.
Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().
double mrpt::kinematics::TKinematicLink::d 
Distance along Z_i to the common normal between Z_i and Z_{i+1}.
Definition at line 33 of file CKinematicChain.h.
Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().
bool mrpt::kinematics::TKinematicLink::is_prismatic 
"false": Is revolute ("q_i" is "theta"), "true": is prismatic ("q_i" is "d")
Definition at line 37 of file CKinematicChain.h.
Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().
double mrpt::kinematics::TKinematicLink::theta 
Rotation from X_i to X_{i+1} (radians)
Definition at line 32 of file CKinematicChain.h.
Referenced by mrpt::kinematics::operator<<(), and mrpt::kinematics::operator>>().
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