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

关节运行时状态结构体。 Structure containing runtime state of the joint. More...

#include <kinematic.hpp>

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

Data Fields
Eigen::AngleAxis< Scalar >	state_angle
	当前关节角度状态。 Current joint angle state.
Eigen::AngleAxis< Scalar >	target_angle
	目标关节角度状态。 Target joint angle state.
Eigen::Matrix< Scalar, 3, 3 >	inertia
	关节的惯性矩阵。 Inertia matrix of the joint.
Axis< Scalar >	state_axis
	当前关节轴向。 Current axis orientation.
Axis< Scalar >	target_axis
	目标关节轴向。 Target axis orientation.
Transform< Scalar >	state
	当前状态的变换矩阵。 Transformation matrix of the current state.
Transform< Scalar >	target
	目标状态的变换矩阵。 Transformation matrix of the target state.

Detailed Description

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

关节运行时状态结构体。 Structure containing runtime state of the joint.

Definition at line 64 of file kinematic.hpp.

Field Documentation

inertia

template<typename Scalar >

Eigen::Matrix<Scalar, 3, 3> LibXR::Kinematic::Joint< Scalar >::Runtime::inertia

关节的惯性矩阵。 Inertia matrix of the joint.

Definition at line 72 of file kinematic.hpp.

state

template<typename Scalar >

Transform<Scalar> LibXR::Kinematic::Joint< Scalar >::Runtime::state

当前状态的变换矩阵。 Transformation matrix of the current state.

Definition at line 78 of file kinematic.hpp.

state_angle

template<typename Scalar >

Eigen::AngleAxis<Scalar> LibXR::Kinematic::Joint< Scalar >::Runtime::state_angle

当前关节角度状态。 Current joint angle state.

Definition at line 67 of file kinematic.hpp.

state_axis

template<typename Scalar >

Axis<Scalar> LibXR::Kinematic::Joint< Scalar >::Runtime::state_axis

当前关节轴向。 Current axis orientation.

Definition at line 74 of file kinematic.hpp.

target

template<typename Scalar >

Transform<Scalar> LibXR::Kinematic::Joint< Scalar >::Runtime::target

目标状态的变换矩阵。 Transformation matrix of the target state.

Definition at line 80 of file kinematic.hpp.

target_angle

template<typename Scalar >

Eigen::AngleAxis<Scalar> LibXR::Kinematic::Joint< Scalar >::Runtime::target_angle

目标关节角度状态。 Target joint angle state.

Definition at line 69 of file kinematic.hpp.

target_axis

template<typename Scalar >

Axis<Scalar> LibXR::Kinematic::Joint< Scalar >::Runtime::target_axis

目标关节轴向。 Target axis orientation.

Definition at line 75 of file kinematic.hpp.

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

• src/utils/kinematic.hpp