Enum MotionType

• Defined in File motion_primitives.h

Enum Documentation

enum class urcl::control::MotionType : uint8_t

Discriminator for the motion primitive type sent over the trajectory interface.

The base values (MOVEJ, MOVEL, MOVEP, MOVEC, OPTIMOVEJ, OPTIMOVEL) use their “natural” target type for the URScript command (joint configuration for movej / optimovej, Cartesian pose for movel / movep / movec / optimovel). The additional *_POSE and *_JOINT entries indicate that the other target kind was requested, e.g. MOVEJ_POSE performs a movej towards a Cartesian pose, and MOVEC_POSE_JOINT performs a movec whose via point is a Cartesian pose and whose target is a joint configuration.

These values must stay in sync with the MOTION_TYPE_* constants in resources/external_control.urscript.

Values:

enumerator MOVEJ

movej towards a joint configuration.

enumerator MOVEL

movel towards a Cartesian pose.

enumerator MOVEP

movep towards a Cartesian pose.

enumerator MOVEC

movec with via and target as Cartesian poses.

enumerator OPTIMOVEJ

optimovej towards a joint configuration.

enumerator OPTIMOVEL

optimovel towards a Cartesian pose.

enumerator MOVEJ_POSE

movej towards a Cartesian pose.

enumerator MOVEL_JOINT

movel towards a joint configuration.

enumerator MOVEP_JOINT

movep towards a joint configuration.

enumerator MOVEC_JOINT

movec with via and target both as joint configurations.

enumerator MOVEC_JOINT_POSE

movec with a Cartesian via and a joint target.

enumerator MOVEC_POSE_JOINT

movec with a joint via and a Cartesian target.

enumerator OPTIMOVEJ_POSE

optimovej towards a Cartesian pose.

enumerator OPTIMOVEL_JOINT

optimovel towards a joint configuration.

enumerator SPLINE

enumerator UNKNOWN