Class JointPositions
Defined in File control_types.h
Inheritance Relationships
Base Type
public franka::Finishable
(Struct Finishable)
Class Documentation
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class JointPositions : public franka::Finishable
Stores values for joint position motion generation.
Public Functions
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JointPositions(const std::array<double, 7> &joint_positions) noexcept
Creates a new JointPositions instance.
- Parameters:
joint_positions – [in] Desired joint angles in
.
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JointPositions(std::initializer_list<double> joint_positions)
Creates a new JointPositions instance.
- Parameters:
joint_positions – [in] Desired joint angles in
.- Throws:
std::invalid_argument – if the given initializer list has an invalid number of arguments.
Public Members
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std::array<double, 7> q = {}
Desired joint angles in [rad].
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JointPositions(const std::array<double, 7> &joint_positions) noexcept