Struct LinkProperties

• Defined in File trossen_arm.hpp

Struct Documentation

struct LinkProperties

Link properties.

Public Members

float mass

mass in kg

std::array<float, 9> inertia

inertia in kg m^2

std::array<float, 3> origin_xyz

inertia frame translation measured in link frame in m

std::array<float, 3> origin_rpy

inertia frame RPY angles measured in link frame in rad