robot::sim::SimulatedKinematicChain::TransformInfo Struct Reference

Collaboration diagram for robot::sim::SimulatedKinematicChain::TransformInfo:


Public Attributes
base::Transform	mountTransform
	transform from mount point to world frame
array< base::Transform >	A
	transform from link l frame into link l-1 frame
array< base::Transform >	T
	accumulated transformations for each link (transforms from link l frame to mount frame)
array< base::Transform >	SLT
	relative configuration of link's Solid from its origin
base::Vector	q
	joint variable parameter value at which A,T,ST were evaluated
base::Transform	mountToBaseSolid
	transform from mount frame to base Solid frame
base::Transform	eeToEESolid
	transform from ee frame to ee Solid frame

Member Data Documentation

base::Vector robot::sim::SimulatedKinematicChain::TransformInfo::q

joint variable parameter value at which A,T,ST were evaluated

Definition at line 128 of file SimulatedKinematicChain.

array<base::Transform> robot::sim::SimulatedKinematicChain::TransformInfo::T

accumulated transformations for each link (transforms from link l frame to mount frame)

Definition at line 126 of file SimulatedKinematicChain.

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

Generated on Thu Jul 29 16:43:09 2004 for OpenSim by

1.3.6