EASY-ROB™ Kernel  v8.603
Public Attributes | List of all members
DFRAME Struct Reference

Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1]. More...

#include <erk_capi_types.h>

Public Attributes

double n [3]
 normal vector, n = o x a More...
 
double o [3]
 orientation vector, o = a x n More...
 
double a [3]
 approach vector, a = n x o More...
 
double p [3]
 position vector More...
 

Detailed Description

Homogeneous 4x4 transformation matrix, a Frame
with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1].

Member Data Documentation

◆ a

double DFRAME::a[3]

approach vector, a = n x o

◆ n

double DFRAME::n[3]

normal vector, n = o x a

◆ o

double DFRAME::o[3]

orientation vector, o = a x n

◆ p

double DFRAME::p[3]

position vector


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