Class OptimoveJPrimitive

Inheritance Relationships

Base Type

Class Documentation

class OptimoveJPrimitive : public urcl::control::MotionPrimitiveWithTarget

Public Functions

OptimoveJPrimitive(const urcl::vector6d_t &target, const double blend_radius = 0, const double acceleration_fraction = 0.3, const double velocity_fraction = 0.3)
OptimoveJPrimitive(const MotionTarget &target, const double blend_radius = 0, const double acceleration_fraction = 0.3, const double velocity_fraction = 0.3)

Construct an OptimoveJ primitive from a urcl::MotionTarget.

A urcl::Q selects MotionType::OPTIMOVEJ, a urcl::Pose selects MotionType::OPTIMOVEJ_POSE.

virtual void setTarget(const MotionTarget &target) override
virtual bool validate() const override

Public Members

urcl::vector6d_t target_joint_configuration = {}