Typedef urcl::MotionTarget

• Defined in File types.h

Typedef Documentation

using urcl::MotionTarget = std::variant<Q, Pose>

A tagged union representing either a joint target (Q) or a Cartesian target (Pose).

MotionTarget is used throughout the motion API (e.g. InstructionExecutor::moveJ and the Move*Primitive constructors) to let callers choose at call site whether a motion should be parametrized in joint space or in Cartesian space without needing separate overloads for every combination.

The overloads that take a MotionTarget are provided alongside explicit vector6d_t and Pose overloads so that plain braced-initializer calls keep binding to the previous behaviour; only explicitly constructed Q or Pose values (or an already-built MotionTarget) select the variant-based path.