Class MoveCPrimitive

Inheritance Relationships

Base Type

Class Documentation

class MoveCPrimitive : public urcl::control::MotionPrimitiveWithTarget

Public Functions

MoveCPrimitive(const urcl::Pose &via_point, const urcl::Pose &target, const double blend_radius = 0, const double acceleration = 1.4, const double velocity = 1.04, const int32_t mode = 0)
MoveCPrimitive(const MotionTarget &via_point, const MotionTarget &target, const double blend_radius = 0, const double acceleration = 1.4, const double velocity = 1.04, const int32_t mode = 0)

Construct a MoveC primitive from two urcl::MotionTarget values.

Every combination of urcl::Pose and urcl::Q for the via point and the target is supported and mapped to the corresponding MotionType (MOVEC, MOVEC_JOINT, MOVEC_POSE_JOINT, or MOVEC_JOINT_POSE). The naming convention is MOVEC_<target>_<via>, i.e. MOVEC_POSE_JOINT denotes a movec whose target is a pose and whose via point is a joint configuration.

~MoveCPrimitive() override
virtual void setTarget(const MotionTarget &target) override
void setVia(const MotionTarget &via_point)
inline MotionTarget getVia() const

Public Members

urcl::Pose via_point_pose = {}
urcl::Pose target_pose = {}
int32_t mode = 0

Protected Attributes

urcl::MotionTarget via_point_