TBranchStep Struct Reference

A step in a kinematic branch. More...

Collaboration diagram for TBranchStep:

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Data Fields
Tjoint *	joint
double	sign

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Detailed Description

A kinematic branch is a series of joints connecting two given link in a mechanism, typically, the ground link and any other link.

This structure define the a basic step in a kinematic chain

Definition at line 28 of file world.c.

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Field Documentation

Tjoint* TBranchStep::joint

The joint used in the step.

Definition at line 29 of file world.c.

Referenced by AddStepToBranch().

double TBranchStep::sign

The sign (i.e., the orientation) of this joint. Remember that joint relate a joint a with a joint b and it could be the case that the branch step need to be from b to a instead of from a to b.

Definition at line 30 of file world.c.

Referenced by AddStepToBranch().

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

• src/CuikWorld/world.c