Fawkes API
Fawkes Development Version
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Internal data storage, do NOT modify! More...
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. |
Internal data storage, do NOT modify!
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().
DEPRECATED! Euler angle Phi of tool orientation.
Definition at line 188 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().
DEPRECATED! Euler angle Psi of tool orientation.
Definition at line 190 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().
Move in a straight line?
Definition at line 177 of file KatanaInterface.h.
Referenced by fawkes::KatanaInterface::LinearGotoMessage::LinearGotoMessage().
DEPRECATED! Euler angle Theta of tool orientation.
Definition at line 189 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().
Interface Unix timestamp, seconds.
Definition at line 172 of file KatanaInterface.h.
Interface Unix timestamp, micro-seconds.
Definition at line 173 of file KatanaInterface.h.
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().