iCub-main
iCub::action::ActionPrimitivesWayPoint Struct Reference

#include <actionPrimitives.h>

## Public Member Functions

ActionPrimitivesWayPoint ()
Default Constructor. More...

## Public Attributes

yarp::sig::Vector x
The 3x1 Vector specifyng the position of the waypoint [m]. More...

yarp::sig::Vector o
The 4x1 Vector specifying the orientation of the waypoint in axis-angle representation. More...

bool oEnabled
If this flag is set to true then orientation will be taken into account. More...

double duration
The time duration [s] to achieve the waypoint. More...

double trajTime
The arm execution time [s] accounting for the controller's responsivity. More...

double granularity
The time granularity [s] used by the trajectory generator [s]. More...

ActionPrimitivesCallbackcallback
Action callback that is executed when the waypoint is reached. More...

## Detailed Description

Struct for defining way points used for movements in the operational space.

Definition at line 132 of file actionPrimitives.h.

## ◆ ActionPrimitivesWayPoint()

 ActionPrimitivesWayPoint::ActionPrimitivesWayPoint ( )

Default Constructor.

Definition at line 294 of file actionPrimitives.cpp.

## ◆ callback

 ActionPrimitivesCallback* iCub::action::ActionPrimitivesWayPoint::callback

Action callback that is executed when the waypoint is reached.

Definition at line 175 of file actionPrimitives.h.

## ◆ duration

 double iCub::action::ActionPrimitivesWayPoint::duration

The time duration [s] to achieve the waypoint.

Non-positive values indicate that a duration equal to default one will be employed.

Definition at line 156 of file actionPrimitives.h.

## ◆ granularity

 double iCub::action::ActionPrimitivesWayPoint::granularity

The time granularity [s] used by the trajectory generator [s].

Definition at line 169 of file actionPrimitives.h.

## ◆ o

 yarp::sig::Vector iCub::action::ActionPrimitivesWayPoint::o

The 4x1 Vector specifying the orientation of the waypoint in axis-angle representation.

Definition at line 143 of file actionPrimitives.h.

## ◆ oEnabled

 bool iCub::action::ActionPrimitivesWayPoint::oEnabled

If this flag is set to true then orientation will be taken into account.

Definition at line 149 of file actionPrimitives.h.

## ◆ trajTime

 double iCub::action::ActionPrimitivesWayPoint::trajTime

The arm execution time [s] accounting for the controller's responsivity.

Non-positive values indicate that the default time will be employed.

Definition at line 163 of file actionPrimitives.h.

## ◆ x

 yarp::sig::Vector iCub::action::ActionPrimitivesWayPoint::x

The 3x1 Vector specifyng the position of the waypoint [m].

Definition at line 137 of file actionPrimitives.h.

The documentation for this struct was generated from the following files: