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Attributes | |
CartesianAxis | CartesianCoordinate |
char | ExpectedLabel [ExpectedLabelBufferSize] |
The label the joint is expected to have. The maximum number of characters the label can have is MAX_LABEL_SIZE. (The buffer has an additional space to allow strings to be null-terminated) | |
int | JointIndex |
The index of the robot's joint to map (within an array of joint positions). Often this index will refer to the index of the axis within a MultiAxis object. | |
double | Offset |
The offset value that will be added to the scaled joint position. | |
double | Scaling |
The scaling value that the joint position will be multiplied by. | |
Static Attributes | |
static constexpr int | MaxLabelSize = 16 |
The maximum size of a joint label and the size of the ExpectedLabel buffer. | |
This struct specifies a mapping of a joint on the robot to a coordinate of a point in Cartesian space. The mapping's scaling, offset, and label can also be specified.
The linear models perform a one-to-one mapping of one of the robot's joint positions to a coordinate in cartesian space. When performing forward kinematics, a linear model will take in an array of joint positions and output an array representing the coordinates of the point cartesian space the robot will be at.
For example, in a gantry system, each robot joint directly controls each of the three spatial coordinates (X-coordinate, Y-coordinate, Z-coordinate), so the mapping would be: {X-coordinate, X-joint}, {Y-coordinate, Y-joint}, {Z-coordinate, Z-joint}.
Note: Some users may wish to map the same joint to a different spatial coordinate. This can be done with {X-coordinate, X-joint}, {Y-coordinate, Y-joint}, {Yprime-coordinate, Y-joint}, where "Yprime-coordinate" refers to a second spatial coordinate mapped to the Y-joint.
Definition at line 659 of file cartesianrobot.h.