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

#include <actionPrimitives.h>

Public Member Functions
	ActionPrimitivesWayPoint ()
	Default Constructor.

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

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

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

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

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

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

ActionPrimitivesCallback *	callback
	Action callback that is executed when the waypoint is reached.

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 296 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:

icub-main/src/libraries/actionPrimitives/include/iCub/action/actionPrimitives.h
icub-main/src/libraries/actionPrimitives/src/actionPrimitives.cpp

Public Member Functions

Public Attributes