kinematics::jointpos_t Struct Reference

Represents the position (or power) of the differential wrist joint. More...

#include <DiffWristKinematics.h>

Public Member Functions
	jointpos_t (float pitch, float roll)
	jointpos_t (const Eigen::Vector2f &vec)
	Constructs a joint position from a 2-component vector as \(\langle pitch, roll\rangle \).
Eigen::Vector2f	vec () const
	Converts a set of gear positions to a 2-component vector as \(\langle pitch, roll\rangle \).

Public Attributes
float	pitch
	The pitch of the end effector.
float	roll
	The roll of the end effector.

Detailed Description

Represents the position (or power) of the differential wrist joint.

Contains pitch/roll values for the end effector.

Member Data Documentation

pitch

float kinematics::jointpos_t::pitch

The pitch of the end effector.

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

roll

float kinematics::jointpos_t::roll

The roll of the end effector.

When looking down the roll axis, with the end effector in front, 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