Robotics/Kinematics/ElementaryTransformSequence.openplx
ElementaryTransformSequence
ElementaryTransform: static fn tx(x: Real) -> ElementaryTransform static fn ty(y: Real) -> ElementaryTransform static fn tz(z: Real) -> ElementaryTransform static fn Rx(theta: Real) -> ElementaryTransform static fn Ry(theta: Real) -> ElementaryTransform static fn Rz(theta: Real) -> ElementaryTransform static fn tx_free(flip: Bool) -> ElementaryTransform static fn ty_free(flip: Bool) -> ElementaryTransform static fn tz_free(flip: Bool) -> ElementaryTransform static fn Rx_free(flip: Bool) -> ElementaryTransform static fn Ry_free(flip: Bool) -> ElementaryTransform static fn Rz_free(flip: Bool) -> ElementaryTransform static fn calculateElementaryTransformSequence(system: Physics3D.System, base: Physics3D.Interactions.MateConnector, end: Physics3D.Interactions.MateConnector) -> Robotics.Kinematics.ElementaryTransform[] static fn fkine(ets: ElementaryTransform[], q: Real[]) -> Math.AffineTransform static fn position_from_ets(ets: ElementaryTransform[], joint_index: Int) -> Math.Vec3 static fn main_axis_from_ets(ets: ElementaryTransform[], joint_index: Int) -> Math.Vec3 static fn normal_from_ets(ets: ElementaryTransform[], joint_index: Int) -> Math.Vec3 type is String: "tx" # tx | ty | tz | Rx | Ry | Rz (case insensitive) c is Real: 0.0 free is Bool: false flip is Bool: false trait FromETS: ets is ElementaryTransform[] joint_index is Int: 0 position: ElementaryTransform.position_from_ets(ets, joint_index) main_axis: ElementaryTransform.main_axis_from_ets(ets, joint_index) normal: ElementaryTransform.normal_from_ets(ets, joint_index)
