Unterschiede

Hier werden die Unterschiede zwischen zwei Versionen angezeigt.

--- modellingcomponents:elements:robotics [2021/12/02 09:46] – [Generated trajectories] oliver
+++ modellingcomponents:elements:robotics [2022/01/18 16:29] – [Attributes] oliver
@@ Zeile 23: / Zeile 23: @@
 ====Generated trajectories====
 ^ Name ^ Type ^ Description ^
-^ <name>X0Axis | Vector3d | The direction of the first X-axis, as defined by the attribute X0Axis (expression)". |
+^ <name>X0Axis | Vector3d | The direction of the X-axis of the base coordinate system, as defined by the attribute X0Axis (expression)". |
+^ <name>Origin | Vector3d | The Origin of the base coordinate system, as defined by the attribute Origin (expression)". |
 ^ <name>XAxis<Index> | Vector3d | X-axes directions, as defined by the attribute (expression) "xAxisDirections". |
@@ Zeile 93: / Zeile 94: @@
 ^ Attribute ^ Type ^ Description ^ Required ^
 ^ name | String | Name of the element | Yes |
-^ coordinateSystem | String | Defines the the reference coordinate system by its name. | Yes |
+^ coordinateSystem | String | Defines the the reference coordinate system by its name. If it is not set than (0,0,0) ist used as the origin and e1, e2, e3 are used as its axes. | No|
 ^ alpha | Comma seperated list of REAL variable (trajectorie) names. | Denavit-Hartenberg parameter theta | Yes |
 ^ deltaTheta | Comma seperated list of REAL values | Angle in static neutral pose between Denavit Hartenberg x-axis (r) and the corresponding joint angle measurement by the robot.  | Yes |