kinematics::gearpos_t Struct Reference

Represents the positions (or power) of the two motor-driven gears in the differential wrist. More...

#include <DiffWristKinematics.h>

Public Member Functions
	gearpos_t (float left, float right)
	gearpos_t (const Eigen::Vector2f &vec)
	Constructs a set of gear positions from a 2-component vector as \(\langle left, right\rangle \).
Eigen::Vector2f	vec () const
	Converts a set of gear positions to a 2-component vector as \(\langle left, right\rangle \).

Public Attributes
float	left
	The position (or power) of the left gear.
float	right
	The position (or power) of the right gear.

Detailed Description

Represents the positions (or power) of the two motor-driven gears in the differential wrist.

Contains position/power values for the left and right gears; when looking at the differential down the pitch axis, with the end effector to the right, the positive direction (for both gears) is counter-clockwise.

Member Data Documentation

left

float kinematics::gearpos_t::left

The position (or power) of the left gear.

When looking at the differential down the pitch axis, with the end effector to the right, the positive direction is counter-clockwise, and the negative direction is clockwise.

right

float kinematics::gearpos_t::right

The position (or power) of the right gear.

When looking at the differential down the pitch axis, with the end effector to the right, the positive direction is counter-clockwise, and the negative direction is clockwise.

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

• src/kinematics/DiffWristKinematics.h
• src/kinematics/DiffWristKinematics.cpp