Struct EndEffectorInteraction

Defined in File interaction.hpp

Struct Documentation

struct EndEffectorInteraction

Representation of an interaction via an end-effector Displays one marker for manipulating the EEF position.

Public Members

std::string parent_group: The name of the group that sustains the end-effector (usually an arm)

std::string parent_link: The name of the link in the parent group that connects to the end-effector.

std::string eef_group: The name of the group that defines the group joints.

InteractionStyle::InteractionStyle interaction: Which degrees of freedom to enable for the end-effector.

double size: The size of the end effector group (diameter of enclosing sphere)