lebai-motion-control  3.1.6
lebai motion control C interface
Data Fields
lmc_link_dyn_config Struct Reference

Dynamic parameter for a link. More...

#include <lmc_robot_model_config.h>

Collaboration diagram for lmc_link_dyn_config:
Collaboration graph
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Data Fields

double ixx
 
double iyy
 
double izz
 
double ixy
 
double ixz
 
double iyz
 
double mass
 
lmc_translation_t com
 

Detailed Description

Dynamic parameter for a link.

Note
Same as d_param_t in lebai_kdl.

Definition at line 39 of file lmc_robot_model_config.h.

Field Documentation

Center of mass.

Definition at line 47 of file lmc_robot_model_config.h.

double ixx

Inertial matrix xx.

Definition at line 40 of file lmc_robot_model_config.h.

double ixy

Inertial matrix xy.

Definition at line 43 of file lmc_robot_model_config.h.

double ixz

Inertial matrix xz.

Definition at line 44 of file lmc_robot_model_config.h.

double iyy

Inertial matrix yy.

Definition at line 41 of file lmc_robot_model_config.h.

double iyz

Inertial matrix yz.

Definition at line 45 of file lmc_robot_model_config.h.

double izz

Inertial matrix zz.

Definition at line 42 of file lmc_robot_model_config.h.

double mass

Mass of link.

Definition at line 46 of file lmc_robot_model_config.h.


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