libkindrv 0.1
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Jaco universal position struct. More...
#include <types.h>
Public Attributes | |
union { | |
float joints [6] | |
struct { | |
float position [3] | |
float rotation [3] | |
} | |
}; | |
float | finger_position [3] |
Jaco universal position struct.
Contains 9 floats. The last 3 are finger positions. The first 6 can be either angular joint values, or cartesian position and rotation values.
float KinDrv::jaco_position_t::finger_position[3] |
Array containing the three finger positions.
float KinDrv::jaco_position_t::joints[6] |
Reading the position as an array of joint values.
float KinDrv::jaco_position_t::position[3] |
Reading the position as arrays of position(=this) and rotation values.
float KinDrv::jaco_position_t::rotation[3] |
Reading the position as arrays of position and rotation(=this) values.