SingularityVector Struct Reference

Contains all the information about singularities form the actual hand position More...

#include <KinovaTypes.h>

List of all members.

Public Attributes
int	OrientationSingularityCount
float	OrientationSingularityDistance
CartesianInfo	RepulsionVector
int	TranslationSingularityCount
float	TranslationSingularityDistance

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Detailed Description

Contains all the information about singularities form the actual hand position

Definition at line 219 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

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Member Data Documentation

int SingularityVector::OrientationSingularityCount

Number of near singularities from the current hand position for a rotation (Euler angles: theta X, theta Y and theta Z)

Definition at line 222 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float SingularityVector::OrientationSingularityDistance

Relative angle of the nearest singularity point from the current hand orientation

Definition at line 224 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

CartesianInfo SingularityVector::RepulsionVector

Cartesian direction to follow for avoiding the nearest singularity

Definition at line 225 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

int SingularityVector::TranslationSingularityCount

Number of near singularities from the current hand position for a translation (X,Y,Z)

Definition at line 221 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

float SingularityVector::TranslationSingularityDistance

Relative distance of the nearest singularity point from the current hand position

Definition at line 223 of file docs/JacoDocs/JacoAPI/KinovaTypes.h.

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

• docs/JacoDocs/JacoAPI/KinovaTypes.h
• include/jaco_driver/KinovaTypes.h