A waypoint with a target and optional parameters. More...
#include <waypoint_motion.hpp>
Inheritance diagram for franky::Waypoint< TargetType >:
Public Attributes | |
| TargetType | target |
| RelativeDynamicsFactor | relative_dynamics_factor {1.0} |
| std::optional< franka::Duration > | minimum_time {std::nullopt} |
| franka::Duration | hold_target_duration {0} |
| std::optional< franka::Duration > | max_total_duration {std::nullopt} |
Detailed Description
A waypoint with a target and optional parameters.
- Template Parameters
-
TargetType The type of the target.
- Parameters
-
target The target of this waypoint. reference_type The reference type (absolute or relative). relative_dynamics_factor The relative dynamics factor for this waypoint. This factor will get multiplied with the robot's global dynamics factor and the motion dynamics factor to get the actual dynamics factor for this waypoint. minimum_time The minimum time to get to the next waypoint. hold_target_duration For how long to hold the target of this waypoint after it has been reached. max_total_duration The maximum time to try reaching this waypoint before moving on to the next waypoint. Default is infinite.
Member Data Documentation
◆ hold_target_duration
template<typename TargetType >
| franka::Duration franky::Waypoint< TargetType >::hold_target_duration {0} |
◆ max_total_duration
template<typename TargetType >
| std::optional<franka::Duration> franky::Waypoint< TargetType >::max_total_duration {std::nullopt} |
◆ minimum_time
template<typename TargetType >
| std::optional<franka::Duration> franky::Waypoint< TargetType >::minimum_time {std::nullopt} |
◆ relative_dynamics_factor
template<typename TargetType >
| RelativeDynamicsFactor franky::Waypoint< TargetType >::relative_dynamics_factor {1.0} |
◆ target
template<typename TargetType >
| TargetType franky::Waypoint< TargetType >::target |
The documentation for this struct was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/waypoint_motion.hpp
