libmove3d: s_parallel Struct Reference

Public Attributes
struct jnt *	base_jntPt
	The base (reference) jnt.
struct jnt *	platform_jntPt
	The parallel platform (grasped object) jnt.
int(*	fct_parplatf_shoot )(struct s_parallel *, configPt)
	Function used to generate de platform configuration.
double	platform_dof_min_bounds [6]
	The parallel platform (grasped object) jnt new rand-bounds.
double	platform_dof_max_bounds [6]
int	n_manipulators
	The number of manipulators.
struct jnt *	att_jnt [MAX_N_MANIPULATORS]
	The list of attachments.
int	index_link_platf [MAX_N_MANIPULATORS]
	Index for link_between_joint platform-attach.
double	dpa [MAX_N_MANIPULATORS]
	The distance between the att and the platform frame.
struct cntrt *	manip_cntrt [MAX_N_MANIPULATORS]
	The list of cntrts (one by manipulator)
struct s_tri_attach *	triangles
	The list of triplets of attachmets (required by Juan Cortes's method to bound the parallel platform dofs)

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

Public Attributes