Struct DhParameters

Namespace

Pamoja.Kit

Assembly

Pamoja.Kit.dll

One joint of a serial arm in the Denavit-Hartenberg convention.

public readonly record struct DhParameters : IEquatable<DhParameters>

Implements

IEquatable<DhParameters>

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Constructors

DhParameters(float, float, float, float)

One joint of a serial arm in the Denavit-Hartenberg convention.

public DhParameters(float A = 0, float Alpha = 0, float D = 0, float Theta = 0)

Parameters

A float

The link length along the common normal, in meters.

Alpha float

The link twist about the common normal, in radians.

D float

The link offset along the previous z axis, in meters.

Theta float

The joint angle about the previous z axis, in radians.

Properties

A

The link length along the common normal, in meters.

public float A { get; init; }

Property Value

float

Alpha

The link twist about the common normal, in radians.

public float Alpha { get; init; }

Property Value

float

D

The link offset along the previous z axis, in meters.

public float D { get; init; }

Property Value

float

Theta

The joint angle about the previous z axis, in radians.

public float Theta { get; init; }

Property Value

float

Methods

Transform()

Returns the homogeneous transform this joint makes.

public Transform Transform()

Returns

Transform

The joint's transform.