Class MovePPrimitive

• Defined in File motion_primitives.h

Inheritance Relationships

Base Type

• public urcl::control::MotionPrimitiveWithTarget (Class MotionPrimitiveWithTarget)

Class Documentation

class MovePPrimitive : public urcl::control::MotionPrimitiveWithTarget

Public Functions

MovePPrimitive(const urcl::Pose &target, const double blend_radius = 0, const double acceleration = 1.4, const double velocity = 1.04)

MovePPrimitive(const MotionTarget &target, const double blend_radius = 0, const double acceleration = 1.4, const double velocity = 1.04)

Construct a MoveP primitive from a urcl::MotionTarget.

Analogous to MoveJPrimitive / MoveLPrimitive: a urcl::Pose selects MotionType::MOVEP, a urcl::Q selects MotionType::MOVEP_JOINT.

~MovePPrimitive() override

virtual void setTarget(const MotionTarget &target) override

Public Members

urcl::Pose target_pose = {}