KatanaNativeInterface  $VERSION$
Public Attributes | List of all members
TLMtrajectory Struct Reference

[LM] linear movement: parameters More...

#include <lmBase.h>

Collaboration diagram for TLMtrajectory:
Collaboration graph

Public Attributes

double * arr_actpos
 current position in cartesian units More...
 
double * arr_tarpos
 target position in cartesian units More...
 
int distance
 distance between target and current position More...
 
double time
 time that it takes from current position to target position More...
 
double dt
 time elapsed between one step and the next one More...
 
short number_of_points
 number of points to interpolate More...
 
TLM_pointspoints
 points to be interpolated More...
 
short ** motors
 motor position in each point to be interpolated More...
 
double ** derivatives
 second order derivatives of the polinomes that join the points, in the points More...
 
double *** coefficients
 coefficients of the polinomes that join the points More...
 
short *** parameters
 parameters to be sent in the command 'L' packet More...
 

Detailed Description

[LM] linear movement: parameters

Definition at line 43 of file lmBase.h.

Member Data Documentation

◆ arr_actpos

double* TLMtrajectory::arr_actpos

current position in cartesian units

Definition at line 44 of file lmBase.h.

◆ arr_tarpos

double* TLMtrajectory::arr_tarpos

target position in cartesian units

Definition at line 45 of file lmBase.h.

◆ coefficients

double*** TLMtrajectory::coefficients

coefficients of the polinomes that join the points

Definition at line 53 of file lmBase.h.

◆ derivatives

double** TLMtrajectory::derivatives

second order derivatives of the polinomes that join the points, in the points

Definition at line 52 of file lmBase.h.

◆ distance

int TLMtrajectory::distance

distance between target and current position

Definition at line 46 of file lmBase.h.

◆ dt

double TLMtrajectory::dt

time elapsed between one step and the next one

Definition at line 48 of file lmBase.h.

◆ motors

short** TLMtrajectory::motors

motor position in each point to be interpolated

Definition at line 51 of file lmBase.h.

◆ number_of_points

short TLMtrajectory::number_of_points

number of points to interpolate

Definition at line 49 of file lmBase.h.

◆ parameters

short*** TLMtrajectory::parameters

parameters to be sent in the command 'L' packet

Definition at line 54 of file lmBase.h.

◆ points

TLM_points* TLMtrajectory::points

points to be interpolated

Definition at line 50 of file lmBase.h.

◆ time

double TLMtrajectory::time

time that it takes from current position to target position

Definition at line 47 of file lmBase.h.


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