Struct Link

• Defined in File trossen_arm_type.hpp

Struct Documentation

struct Link

Link properties.

Public Members

double mass

Mass in kg.

std::array<double, 9> inertia

Inertia in kg m^2.

std::array<double, 3> origin_xyz

Inertia frame translation measured in link frame in m.

std::array<double, 3> origin_rpy

Inertia frame RPY angles measured in link frame in rad.