Struct Joint
Defined in File trossen_arm_type.hpp
Struct Documentation
-
struct Joint
Joint kinematic properties.
Public Members
-
std::array<double, 6> axis = {}
Unit twist of the joint expressed in the joint frame.
Note
The first 3 elements are the angular component and the last 3 elements are the linear component
-
std::array<double, 3> origin_xyz = {}
Translation from the parent link frame to the joint frame in m.
-
std::array<double, 3> origin_rpy = {}
RPY angles from the parent link frame to the joint frame in rad.
-
std::array<double, 6> axis = {}