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RootedFrame ​

Specifies which frame of a component is closest to the root of the kinematic tree.

For example, for a simple pendulum where a revolute joint is connected between the world frame and the rod, the frame of the joint connected to the world is the rooted frame.

Cases ​

  • FrameA

  • FrameB

Source ​

dyad
"""
Specifies which frame of a component is closest to the root of the kinematic tree.

For example, for a simple pendulum where a revolute joint is connected between
the world frame and the rod, the frame of the joint connected to the world is
the rooted frame.
"""
enum RootedFrame =
  | FrameA
  | FrameB

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