iCub-main
Public Member Functions | Public Attributes | List of all members
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.

Constructor & Destructor Documentation

◆ ActionPrimitivesWayPoint()

ActionPrimitivesWayPoint::ActionPrimitivesWayPoint ( )

Default Constructor.

Definition at line 294 of file actionPrimitives.cpp.

Member Data Documentation

◆ 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: