Commands data for non-real-time Cartesian motion-force control. More...

#include <data.hpp>

Public Member Functions
	NrtCartesianCmd ()=default

	NrtCartesianCmd (const std::array< double, kPoseSize > &pose_d, const std::array< double, kCartDoF > &wrench_d={}, const std::array< double, kCartDoF > &twist_d={}, double max_linear_vel=0.5, double max_angular_vel=1.0, double max_linear_acc=2.0, double max_angular_acc=5.0)

Public Attributes
std::array< double, kPoseSize >	pose_d = {}

std::array< double, kCartDoF >	wrench_d = {}

std::array< double, kCartDoF >	twist_d = {}

double	max_linear_vel = 0.5

double	max_angular_vel = 1.0

double	max_linear_acc = 2.0

double	max_angular_acc = 5.0

Detailed Description

Commands data for non-real-time Cartesian motion-force control.

See also: Robot::SendCartesianMotionForce().

Definition at line 776 of file data.hpp.

Constructor & Destructor Documentation

◆ NrtCartesianCmd() [1/2]

flexiv::rdk::NrtCartesianCmd::NrtCartesianCmd ( )

default

Default constructor

◆ NrtCartesianCmd() [2/2]

flexiv::rdk::NrtCartesianCmd::NrtCartesianCmd	(	const std::array< double, kPoseSize > &	pose_d,
		const std::array< double, kCartDoF > &	wrench_d = `{}`,
		const std::array< double, kCartDoF > &	twist_d = `{}`,
		double	max_linear_vel = `0.5`,
		double	max_angular_vel = `1.0`,
		double	max_linear_acc = `2.0`,
		double	max_angular_acc = `5.0`
	)

inline

Custom constructor

Definition at line 782 of file data.hpp.

Member Data Documentation

◆ max_angular_acc

double flexiv::rdk::NrtCartesianCmd::max_angular_acc = 5.0

Maximum Cartesian angular acceleration when moving to the target pose. A safe value is provided as default. Unit: \( [rad/s^2] \)

Definition at line 829 of file data.hpp.

◆ max_angular_vel

double flexiv::rdk::NrtCartesianCmd::max_angular_vel = 1.0

Maximum Cartesian angular velocity when moving to the target pose. A safe value is provided as default. Unit: \( [rad/s] \)

Definition at line 821 of file data.hpp.

◆ max_linear_acc

double flexiv::rdk::NrtCartesianCmd::max_linear_acc = 2.0

Maximum Cartesian linear acceleration when moving to the target pose. A safe value is provided as default. Unit: \( [m/s^2] \)

Definition at line 825 of file data.hpp.

◆ max_linear_vel

double flexiv::rdk::NrtCartesianCmd::max_linear_vel = 0.5

Maximum Cartesian linear velocity when moving to the target pose. A safe value is provided as default. Unit: \( [m/s] \)

Definition at line 817 of file data.hpp.

◆ pose_d

std::array<double, kPoseSize> flexiv::rdk::NrtCartesianCmd::pose_d = {}

Target TCP pose in world frame: \( {^{O}T_{TCP}}_{d} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \)

Definition at line 799 of file data.hpp.

◆ twist_d

std::array<double, kCartDoF> flexiv::rdk::NrtCartesianCmd::twist_d = {}

Target TCP twist in world frame: \( ^{O}\dot{x}_d \in \mathbb{R}^{6 \times 1} \). Providing properly calculated target twist can improve the robot's overall tracking performance at the cost of reduced robustness. Leaving this input 0 can maximize robustness at the cost of reduced tracking performance. Consists of \( \mathbb{R}^{3 \times 1} \) linear and \( \mathbb{R}^{3 \times 1} \) angular velocity. Unit: \( [m/s]:[rad/s] \)

Definition at line 813 of file data.hpp.

◆ wrench_d

std::array<double, kCartDoF> flexiv::rdk::NrtCartesianCmd::wrench_d = {}

Target TCP wrench in the force control reference frame (configured by SetForceControlFrame()): \( ^{O}F_d \in \mathbb{R}^{6 \times 1} \). The robot will track the target wrench using an explicit force controller. Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]:[Nm] \)

Definition at line 806 of file data.hpp.

The documentation for this struct was generated from the following file:

include/flexiv/rdk/data.hpp

Public Member Functions

Public Attributes