Class Q
Defined in File types.h
Class Documentation
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class Q
A joint configuration (6 joint positions in radians).
This is a strong type around a vector6d_t meant to unambiguously express “this 6-tuple
represents joint values”, as opposed to a Cartesian pose. It is primarily used together with MotionTarget to select between joint-space and Cartesian-space targets when calling motion functions that can accept either.
Unlike raw initializer lists (
{...}) which may bind to either vector6d_t or Pose, wrapping values inurcl::Q{...}always forces a joint-target interpretation.Public Functions
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Q() = delete
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Q(const double q1, const double q2, const double q3, const double q4, const double q5, const double q6)
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explicit Q(const vector6d_t &values)
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const std::vector<double> &getValues() const
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void setValues(const vector6d_t &values)
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void setValues(const std::vector<double> &values)
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Q() = delete