Class MoveJPrimitive

Inheritance Relationships

Base Type

Class Documentation

class MoveJPrimitive : public urcl::control::MotionPrimitiveWithTarget

Public Functions

MoveJPrimitive(const urcl::vector6d_t &target, const double blend_radius = 0, const std::chrono::duration<double> duration = std::chrono::milliseconds(0), const double acceleration = 1.4, const double velocity = 1.04)
MoveJPrimitive(const urcl::MotionTarget &target, const double blend_radius = 0, const std::chrono::duration<double> duration = std::chrono::milliseconds(0), const double acceleration = 1.4, const double velocity = 1.04)

Construct a MoveJ primitive from a urcl::MotionTarget.

If target holds a urcl::Q, type is set to MotionType::MOVEJ. If target holds a urcl::Pose, type is set to MotionType::MOVEJ_POSE; the robot will internally solve inverse kinematics to reach the pose with a movej. The stored target is accessible via getTarget().

virtual void setTarget(const MotionTarget &target) override

Public Members

urcl::vector6d_t target_joint_configuration = {}