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Trammell Hudson  committed b6c75ee

Forgot to add this a long time ago

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  • Parent commits 0385ad0

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+#!/usr/bin/python
+# DH parameters for a robot joint.
+# Used by the FK and IK libraries.
+
+from math import pi
+
+class Joint(object):
+	def __init__(self, d, a, theta, scale, coupling):
+		if scale == 0:
+			raise Exception("Invalid scale")
+		self.d = d
+		self.a = a
+		self.theta = theta * pi / 180
+		self.scale = scale / pi
+		self.coupling = coupling
+