MATLAB File Help: HebiKinematics/setBaseFrame |
setBaseFrame sets the relationship between the world and the first body in the kinematic configuration. This method expects a 4x4 homogeneous transform that describes the relationship between the world frame and the frame of the first body. All kinematics are expressed in the world frame. Units of XYZ translation are in [m]. Example % Shift the base frame of the kinematics by .5 meters % in the +x direction. newBaseFrame = eye(4); newBaseFrame(1:3,4) = [.5; 0; 0]; setBaseFrame( newBaseFrame );
Access | public |
Sealed | false |
Static | false |