c_binary_link Struct Reference

One link in a serial Denavit-Hartenberg linkage. More...

#include <dynamics.h>

Public Attributes
double	link_length
	Link length.
double	link_twist
	Link twist.
double	link_offset
	Link offset.
double	joint_angle
	Joint angle or displacement.
int	joint_type
	Joint type, for example DYN_REVOLUTE_JOINT.
double	mass
	Link mass.
double	cg [3]
	Center-of-gravity position in the link frame.
double	inertia [9]
	3-by-3 inertia matrix in column-major storage.

Detailed Description

One link in a serial Denavit-Hartenberg linkage.

Member Data Documentation

link_length

double c_binary_link::link_length

Link length.

link_twist

double c_binary_link::link_twist

Link twist.

link_offset

double c_binary_link::link_offset

Link offset.

joint_angle

double c_binary_link::joint_angle

Joint angle or displacement.

joint_type

int c_binary_link::joint_type

Joint type, for example DYN_REVOLUTE_JOINT.

mass

double c_binary_link::mass

Link mass.

cg

double c_binary_link::cg[3]

Center-of-gravity position in the link frame.

inertia

double c_binary_link::inertia[9]

3-by-3 inertia matrix in column-major storage.

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

• dynamics.h