TBranchStep Struct Reference

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 (see Tbranch).

Definition at line 80 of file world.h.

Data Fields
Tjoint *	joint
double	sign

Field Documentation

Tjoint* TBranchStep::joint

The joint used in the step.

Definition at line 81 of file world.h.

Referenced by AddStepToBranch(), and GetTransformFromBranch().

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 82 of file world.h.

Referenced by AddStepToBranch(), and GetTransformFromBranch().