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core::kinematics::jacobian::ModuleType1::screw_construct_struct Struct Reference

struct with the different linear algebra objects that are needed to express the twists and wrenches to calculate the instantaneous Jacobian matrices of the module More...

#include <ModuleType1.hh>

Public Attributes

utility::vector1
< numeric::HomogeneousTransform
< core::Real > > 
Hmatrices {6}
 
utility::vector1
< numeric::xyzVector
< core::Real > > 
s_vectors {6}
 
utility::vector1
< numeric::xyzVector
< core::Real > > 
r_vectors {6}
 

Detailed Description

struct with the different linear algebra objects that are needed to express the twists and wrenches to calculate the instantaneous Jacobian matrices of the module

Hmatrices vector with the homogeneous matrices that describe the homogeneous transformations between the reference atom (ref_atom_) and the first atom in key_atoms_IDs_, followed by the homogeneous transformations between the subsequent atoms in key_atoms_IDs_. s_vectors is a vector1 with screw axis vectors r_vectorss is a vector1 with moment arm vectors for screw definitions

Member Data Documentation

utility::vector1< numeric::HomogeneousTransform<core::Real> > core::kinematics::jacobian::ModuleType1::screw_construct_struct::Hmatrices {6}
utility::vector1< numeric::xyzVector< core::Real > > core::kinematics::jacobian::ModuleType1::screw_construct_struct::r_vectors {6}
utility::vector1< numeric::xyzVector< core::Real > > core::kinematics::jacobian::ModuleType1::screw_construct_struct::s_vectors {6}

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