Commands data for non-real-time joint position control. More...

#include <data.hpp>

Public Member Functions
	NrtJointPositionCmd ()=default

	NrtJointPositionCmd (const std::vector< double > &q_d, const std::vector< double > &dq_d, const std::vector< double > &dq_max, const std::vector< double > &ddq_max)

Public Attributes
std::vector< double >	q_d = {}

std::vector< double >	dq_d = {}

std::vector< double >	dq_max = {}

std::vector< double >	ddq_max = {}

Detailed Description

Commands data for non-real-time joint position control.

See also: Robot::SendJointPosition().

Definition at line 690 of file data.hpp.

Constructor & Destructor Documentation

◆ NrtJointPositionCmd() [1/2]

flexiv::rdk::NrtJointPositionCmd::NrtJointPositionCmd ( )

default

Default constructor

◆ NrtJointPositionCmd() [2/2]

flexiv::rdk::NrtJointPositionCmd::NrtJointPositionCmd	(	const std::vector< double > &	q_d,
		const std::vector< double > &	dq_d,
		const std::vector< double > &	dq_max,
		const std::vector< double > &	ddq_max
	)

inline

Custom constructor

Definition at line 696 of file data.hpp.

Member Data Documentation

◆ ddq_max

std::vector<double> flexiv::rdk::NrtJointPositionCmd::ddq_max = {}

Maximum joint accelerations for the planned trajectory: \( \ddot{q}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s^2] \)

Definition at line 719 of file data.hpp.

◆ dq_d

std::vector<double> flexiv::rdk::NrtJointPositionCmd::dq_d = {}

Target joint velocities: \( \dot{q}_d \in \mathbb{R}^{n \times 1} \). Each joint will maintain this amount of velocity when it reaches the target position. Unit: \( [rad/s] \)

Definition at line 711 of file data.hpp.

◆ dq_max

std::vector<double> flexiv::rdk::NrtJointPositionCmd::dq_max = {}

Maximum joint velocities for the planned trajectory: \( \dot{q}_{max} \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] \)

Definition at line 715 of file data.hpp.

◆ q_d

std::vector<double> flexiv::rdk::NrtJointPositionCmd::q_d = {}

Target joint positions: \( q_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] \)

Definition at line 706 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