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OpenRAVE::planningutils::DHParameter Class Reference

represents the DH parameters for one joint More...

#include <planningutils.h>

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Public Attributes

KinBody::JointConstPtr joint
 pointer to joint
 
int parentindex
 index into dh parameter array for getting cooreainte system of parent joint. If -1, no parent.
 
Transform transform
 the computed coordinate system of this joint, this can be automatically computed from DH parameters
 
dReal d
 distance along previous z
 
dReal a
 orthogonal distance from previous z axis to current z
 
dReal theta
 rotation of previous x around previous z to current x
 
dReal alpha
 rotation of previous z to current z
 

Detailed Description

represents the DH parameters for one joint

T = Z_1 X_1 Z_2 X_2 ... X_n Z_n

where Z_i = [cos(theta) -sin(theta) 0 0; sin(theta) cos(theta) 0 0; 0 0 1 d] X_i = [1 0 0 a; 0 cos(alpha) -sin(alpha) 0; 0 sin(alpha) cos(alpha) 0]

http://en.wikipedia.org/wiki/Denavit%E2%80%93Hartenberg_parameters

Definition at line 291 of file planningutils.h.

Member Data Documentation

dReal OpenRAVE::planningutils::DHParameter::a

orthogonal distance from previous z axis to current z

Definition at line 298 of file planningutils.h.

dReal OpenRAVE::planningutils::DHParameter::alpha

rotation of previous z to current z

Definition at line 300 of file planningutils.h.

dReal OpenRAVE::planningutils::DHParameter::d

distance along previous z

Definition at line 297 of file planningutils.h.

KinBody::JointConstPtr OpenRAVE::planningutils::DHParameter::joint

pointer to joint

Definition at line 294 of file planningutils.h.

int OpenRAVE::planningutils::DHParameter::parentindex

index into dh parameter array for getting cooreainte system of parent joint. If -1, no parent.

Definition at line 295 of file planningutils.h.

dReal OpenRAVE::planningutils::DHParameter::theta

rotation of previous x around previous z to current x

Definition at line 299 of file planningutils.h.

Transform OpenRAVE::planningutils::DHParameter::transform

the computed coordinate system of this joint, this can be automatically computed from DH parameters

Definition at line 296 of file planningutils.h.


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