Class JointVelocities

Inheritance Relationships

Base Type

Class Documentation

class JointVelocities : public franka::Finishable

Stores values for joint velocity motion generation.

Public Functions

JointVelocities(const std::array<double, 7> &joint_velocities) noexcept

Creates a new JointVelocities instance.

Parameters:

joint_velocities[in] Desired joint velocities in [rads].

JointVelocities(std::initializer_list<double> joint_velocities)

Creates a new JointVelocities instance.

Parameters:

joint_velocities[in] Desired joint velocities in [rads].

Throws:

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

Public Members

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

Desired joint velocities in [rads].