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

#include <data.hpp>

Public Member Functions
	RtCartesianCmd ()=default

	RtCartesianCmd (const std::array< double, kPoseSize > &pose_d, const std::array< double, kCartDoF > &wrench_d={}, const std::array< double, kCartDoF > &twist_d={}, const std::array< double, kCartDoF > &acc_d={})

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

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

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

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

Detailed Description

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

See also: Robot::StreamCartesianMotionForce().

Definition at line 727 of file data.hpp.

Constructor & Destructor Documentation

◆ RtCartesianCmd() [1/2]

flexiv::rdk::RtCartesianCmd::RtCartesianCmd ( )

default

Default constructor

◆ RtCartesianCmd() [2/2]

flexiv::rdk::RtCartesianCmd::RtCartesianCmd	(	const std::array< double, kPoseSize > &	pose_d,
		const std::array< double, kCartDoF > &	wrench_d = `{}`,
		const std::array< double, kCartDoF > &	twist_d = `{}`,
		const std::array< double, kCartDoF > &	acc_d = `{}`
	)

inline

Custom constructor

Definition at line 733 of file data.hpp.

Member Data Documentation

◆ acc_d

std::array<double, kCartDoF> flexiv::rdk::RtCartesianCmd::acc_d = {}

Target TCP acceleration in world frame: \( ^{O}\ddot{x}_d \in \mathbb{R}^{6 \times 1} \). Feeding forward target acceleration can improve the robot's tracking performance for highly dynamic motions, but it's also okay to leave this input 0. Consists of \( \mathbb{R}^{3 \times 1} \) linear and \( \mathbb{R}^{3 \times 1} \) angular acceleration. Unit: \( [m/s^2]:[rad/s^2] \)

Definition at line 768 of file data.hpp.

◆ pose_d

std::array<double, kPoseSize> flexiv::rdk::RtCartesianCmd::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 747 of file data.hpp.

◆ twist_d

std::array<double, kCartDoF> flexiv::rdk::RtCartesianCmd::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 761 of file data.hpp.

◆ wrench_d

std::array<double, kCartDoF> flexiv::rdk::RtCartesianCmd::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 754 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