Struct CartesianConfiguration

Defined in File types.hpp

Struct Documentation

struct CartesianConfiguration

Represents a robot Cartesian configuration.

This comprises a transform, as well as the names of the frames in the robot model.

Public Members

std::string base_frame: The name of the base (or reference) frame.

std::string tip_frame: The name of the tip (or target) frame.

Eigen::Matrix4d tform = Eigen::Matrix4d::Identity(): The transformation matrix from the base to the tip frame. NOTE: I’d like this to be an Isometry3d but nanobind doesn’t have off the shelf bindings for this.