angle_data Struct Reference

Structure to hold data for joint angle calculations. More...

#include <postprocess.h>

Data Fields
double	DH_mat [16]
	DH transformation matrix to get next plate.
double	Mat_loc [16]
	plate local frame
double	Ptloc [3]
	local co-ordinates of 1 point on the next plate.
double	Ptglob [3]
	measured global coordinates of the point (global refers to frame fixed to current base plate)

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Detailed Description

Structure to hold data for joint angle calculations.

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Field Documentation

double angle_data::DH_mat[16]

DH transformation matrix to get next plate.

DH matrix is the DH transformation matrix giving the transform matrix between the current plate and the plate to the "right" ie the plates between which the joint angle is defined. It is expressed as a 1d array, in the form of the data array in gsl_matrix.

Referenced by calc_collar_angles(), calc_j_angle_wrap(), calc_jnt_angle_jacob_wrap(), and jnt_angle_jacob_wrap().

double angle_data::Mat_loc[16]

plate local frame

Transformation matrix of "next" plate to convert local coordinates to DH frame coordinates.( Obtained from the Pvals and qvals files)

Referenced by calc_collar_angles(), calc_j_angle_wrap(), calc_jnt_angle_jacob_wrap(), and jnt_angle_jacob_wrap().

double angle_data::Ptglob[3]

measured global coordinates of the point (global refers to frame fixed to current base plate)

Referenced by calc_collar_angles(), calc_j_angle_wrap(), calc_jnt_angle_jacob_wrap(), and jnt_angle_jacob_wrap().

double angle_data::Ptloc[3]

local co-ordinates of 1 point on the next plate.

Referenced by calc_collar_angles(), calc_j_angle_wrap(), calc_jnt_angle_jacob_wrap(), and jnt_angle_jacob_wrap().

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

• postprocess.h