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:

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

lmc_translation_t com

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.

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

• lmc_robot_model_config.h