Struct representing the DH parameters of a single transformation between adjacent links. More...

Detailed Description

This struct follows the classical DH parameter convention: Trans[Zi-1](d) * Rot[Zi-1](theta) * Trans[Xi](r)

#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.

Member Function Documentation

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

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