brepjs API Reference
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    Interface DHRow

    One row of a Denavit-Hartenberg table (angles in degrees).

    interface DHRow {
        a: number;
        alpha: number;
        d: number;
        max?: number;
        min?: number;
        name?: string;
        theta: number;
        type?: "revolute" | "prismatic";
        value?: number;
    }
    Index

    Properties

    a alpha d max? min? name? theta type? value?

    Properties

    a: number

    Link length: translation along the (rotated) x axis.

    alpha: number

    Link twist: rotation about the x axis, in degrees.

    d: number

    Link offset: translation along the z axis. For prismatic, the home offset.

    max?: number

    Joint range upper bound.

    min?: number

    Joint range lower bound (degrees for revolute, length for prismatic).

    name?: string

    Child link name produced by this row. Default link{i+1}.

    theta: number

    Joint angle about z, in degrees. For revolute, the home angle.

    type?: "revolute" | "prismatic"

    Which parameter is the joint variable. Default 'revolute' (θ varies).

    value?: number

    Initial joint value (clamped to range). Default 0.

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