Documentation

The result of computing a joint. It provides AffineTransformations that describe the orientations of the components of the joint. All affine transformations reorient the +Z axis to aim in the direction of the far point. For example, in joint_arm_lower the +Z axis aims at the position of the hand.

Constructors

Joint

Fields

joint_shoulder :: Point3D: The fixed point of the joint.
joint_hand :: Point3D: The far end point of the joint.
joint_elbow :: Point3D: The articulated point of the joint.
joint_arm_lower :: AffineTransformation: The affine transformation to the lower arm, where the origin is the elbow.
joint_arm_upper :: AffineTransformation: The affine transformation to the upper arm, where the origin is the shoulder.
joint_arm_hand :: AffineTransformation: The affine transformation where the origin is the hand. Oriented to preserve as much as possible the +Y axis.

joint :: Vector3D -> Point3D -> RSdouble -> Point3D -> Joint Source

Compute a joint where given a bend vector, describing the direction in which the articulated point (elbow) will try to move when the arm is retracted, and shoulder or base of the joint, the total length of the joint, and ideal position of the hand.