SMC_Frame_DenavitHartenbergI (FUN)
FUNCTION SMC_Frame_DenavitHartenbergI : BOOL
Computes the inverse affine-linear transformation based on the Denavit Hartenberg parameters. The transformation transforms from the joint coordinate system i-1 to i.
InOut:
|
Scope |
Name |
Type |
|
Inout |
frDst |
|
|
Input |
dJointAngle_rad |
LREAL |
|
dLinkOffset_u |
LREAL |
|
|
dLinkLength_u |
LREAL |
|
|
dLinkTwist_sin |
LREAL |
|
|
dLinkTwist_cos |
LREAL |
|
|
Return |
SMC_Frame_DenavitHartenbergI |
BOOL |
