24 #ifndef __PLUGINS_OPENRAVE_TYPES_H_ 25 #define __PLUGINS_OPENRAVE_TYPES_H_ 27 #include <openrave/openrave.h> 28 #include <core/utils/refptr.h> 38 class OpenRaveEnvironment;
40 class OpenRaveManipulator;
Target: OpenRAVE::IkParameterization string.
float qx
x value of quaternion
float x
translation on x-axis
Target: relative endeffector translation, based on arm extension.
Fawkes library namespace.
float qz
z value of quaternion
target_type_t type
target type
Target: absolute endeffector translation and rotation.
std::string raw_cmd
raw command passed to the BaseManipulator module, e.g.
std::string plannerparams
additional string to be passed to planner, i.e.
float z
translation on z-axis
RefPtr< OpenRaveEnvironment > OpenRaveEnvironmentPtr
RefPtr to OpenRaveEnvironment.
target_type_t
Target types.
Target: Raw string, passed to OpenRAVE's BaseManipulation module.
float y
translation on y-axis
unsigned int no_device
motor number of real device
RefPtr< OpenRaveManipulator > OpenRaveManipulatorPtr
RefPtr to OpenRaveManipulator.
Target: relative endeffector translation, based on robot's coordinate system.
OpenRAVE::IkParameterization ikparam
OpenRAVE::IkParameterization; each target is implicitly transformed to one by OpenRAVE.
Struct containing information about the current target.
unsigned int no
motor number in OpenRAVE
float qw
w value of quaternion
euler_rotation_t
Euler rotations.
OpenRaveManipulatorPtr manip
target manipulator configuration
Struct containing angle of current motor, its number in OpenRAVE and corresponding motor number of re...
bool solvable
target IK solvable
RefPtr< OpenRaveRobot > OpenRaveRobotPtr
RefPtr to OpenRaveRobot.
Target: motor joint values.
float qy
y value of quaternion