Class JointPositions

Inheritance Relationships

Base Type

Class Documentation

class JointPositions : public franka::Finishable

Stores values for joint position motion generation.

Public Functions

JointPositions(const std::array<double, 7> &joint_positions) noexcept

Creates a new JointPositions instance.

Parameters:

joint_positions[in] Desired joint angles in [rad].

JointPositions(std::initializer_list<double> joint_positions)

Creates a new JointPositions instance.

Parameters:

joint_positions[in] Desired joint angles in [rad].

Throws:

std::invalid_argument – if the given initializer list has an invalid number of arguments.

Public Members

std::array<double, 7> q = {}

Desired joint angles in [rad].