LibXR::Kinematic::Joint< Scalar >::Param Struct Reference

关节参数结构体。 Structure containing joint parameters. More...

#include <kinematic.hpp>

Collaboration diagram for LibXR::Kinematic::Joint< Scalar >::Param:

Data Fields
Transform< Scalar >	parent2this
Transform< Scalar >	this2child
Axis< Scalar >	axis
	关节旋转轴。 Rotation axis of the joint.
Scalar	ik_mult
	逆向运动学步长系数。 Step size coefficient for inverse kinematics.

Detailed Description

template<typename Scalar>
struct LibXR::Kinematic::Joint< Scalar >::Param

关节参数结构体。 Structure containing joint parameters.

Definition at line 47 of file kinematic.hpp.

Field Documentation

axis

template<typename Scalar >

Axis<Scalar> LibXR::Kinematic::Joint< Scalar >::Param::axis

关节旋转轴。 Rotation axis of the joint.

Definition at line 53 of file kinematic.hpp.

ik_mult

template<typename Scalar >

Scalar LibXR::Kinematic::Joint< Scalar >::Param::ik_mult

逆向运动学步长系数。 Step size coefficient for inverse kinematics.

Definition at line 55 of file kinematic.hpp.

parent2this

template<typename Scalar >

Transform<Scalar> LibXR::Kinematic::Joint< Scalar >::Param::parent2this

父坐标系到当前关节的变换。 Transform from the parent frame to the current joint.

Definition at line 49 of file kinematic.hpp.

this2child

template<typename Scalar >

Transform<Scalar> LibXR::Kinematic::Joint< Scalar >::Param::this2child

当前关节到子坐标系的变换。 Transform from the current joint to the child frame.

Definition at line 51 of file kinematic.hpp.

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The documentation for this struct was generated from the following file:

• src/utils/kinematic.hpp