industrial_calibration::DHTransform Struct Reference

Struct representing the DH parameters of a single transformation between adjacent links. This struct follows the classical DH parameter convention: Trans[Zi-1](d) * Rot[Zi-1](theta) * Trans[Xi](r) * Rot[Xi](alpha) See for reference.

#include <dh_chain.h>

Public Member Functions
	DHTransform (const Eigen::Vector4d &params_, DHJointType type_)
	DHTransform (const Eigen::Vector4d &params_, DHJointType type_, const std::string &name_)
	DHTransform (const Eigen::Vector4d &params_, DHJointType type_, const std::string &name_, std::size_t random_seed)
template<typename T >
Isometry3< T >	createRelativeTransform (const T joint_value, const Eigen::Matrix< T, 1, 4 > &offsets) const
	Creates the homogoneous transformation from the previous link to the current link.
template<typename T >
Isometry3< T >	createRelativeTransform (const T joint_value) const
	Creates the homogoneous transformation from the previous link to the current link without applying DH parameter offsets.
double	createRandomJointValue () const
std::array< std::string, 4 >	getParamLabels () const

Public Attributes
Eigen::Vector4d	params
	DH parameters d: The linear offset in Z theta: The rotational offset about Z r: The linear offset in X alpha: The rotational offset about X.
DHJointType	type
	The type of actuation of the joint.
double	max = M_PI
	Joint maximum value.
double	min = -M_PI
	Joint minimum value.
std::string	name
	Label for this transform.
std::size_t	random_seed
	Seed for random number generator.

Friends
struct	YAML::as_if< DHTransform, void >

Member Function Documentation

createRelativeTransform() [1/2]

template<typename T >

Isometry3< T > industrial_calibration::DHTransform::createRelativeTransform ( const T  joint_value, const Eigen::Matrix< T, 1, 4 > &  offsets  ) const

inline

Parameters

joint_value	- The joint value to apply when caluclating the transform
offsets	- The DH parameter offsets to apply when calculating the transform

Returns

createRelativeTransform() [2/2]

template<typename T >

Isometry3< T > industrial_calibration::DHTransform::createRelativeTransform ( const T  joint_value ) const

inline

Parameters

joint_value

- The joint value to apply when calculating the transform

Returns