Fawkes API  Fawkes Development Version
fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage_data_t Struct Reference

Internal data storage, do NOT modify! More...

List of all members.

Public Attributes

int64_t timestamp_sec
 Interface Unix timestamp, seconds.
int64_t timestamp_usec
 Interface Unix timestamp, micro-seconds.
float theta_error
 Error range of theta rotation, gives more flexibility for IK-solution searching.
float offset_xy
 Offset to target.
bool straight
 Move in a straight line?
char trans_frame [32]
 tf frame-id of origin's coordinate system, regarding the translation
char rot_frame [32]
 tf frame-id of origin's coordinate system, regarding the rotation.
float x
 DEPRECATED! X-Coordinate for tool position compared to base coordinate system.
float y
 DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.
float z
 DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.
float phi
 DEPRECATED! Euler angle Phi of tool orientation.
float theta
 DEPRECATED! Euler angle Theta of tool orientation.
float psi
 DEPRECATED! Euler angle Psi of tool orientation.

Detailed Description

Internal data storage, do NOT modify!


Member Data Documentation

Offset to target.

Distance in m (on the way to the target)

Definition at line 176 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().

tf frame-id of origin's coordinate system, regarding the rotation.

In most cases, this is the robot's base coordinate system.

Definition at line 180 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().

Error range of theta rotation, gives more flexibility for IK-solution searching.

Definition at line 174 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().

tf frame-id of origin's coordinate system, regarding the translation

Definition at line 178 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().

DEPRECATED! X-Coordinate for tool position compared to base coordinate system.

Definition at line 182 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().

DEPRECATED! Y-Coordinate for tool position compared to base coordinate system.

Definition at line 184 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().

DEPRECATED! Z-Coordinate for tool position compared to base coordinate system.

Definition at line 186 of file KatanaInterface.h.

Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().


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