Class MoveLPrimitive

Inheritance Relationships

Base Type

Class Documentation

class MoveLPrimitive : public urcl::control::MotionPrimitiveWithTarget

Public Functions

MoveLPrimitive(const urcl::Pose &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)
MoveLPrimitive(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 MoveL primitive from a urcl::MotionTarget.

If target holds a urcl::Pose, type is set to MotionType::MOVEL. If it holds a urcl::Q, type is set to MotionType::MOVEL_JOINT. The robot will still execute a tool-space linear motion, resolving the joint configuration to its forward kinematics pose on the controller. The stored target is accessible via getTarget().

~MoveLPrimitive() override
virtual void setTarget(const MotionTarget &target) override

Public Members

urcl::Pose target_pose = {}