franky::Waypoint< TargetType > Struct Template Reference

A waypoint with a target and optional parameters. More...

#include <waypoint_motion.hpp>

Public Attributes
TargetType	target
ReferenceType	reference_type {ReferenceType::Absolute}
RelativeDynamicsFactor	relative_dynamics_factor {1.0}
std::optional< double >	minimum_time {std::nullopt}

Detailed Description

template<typename TargetType>
struct franky::Waypoint< TargetType >

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 in [s].

Member Data Documentation

minimum_time

template<typename TargetType >

std::optional<double> franky::Waypoint< TargetType >::minimum_time {std::nullopt}

reference_type

template<typename TargetType >

ReferenceType franky::Waypoint< TargetType >::reference_type {ReferenceType::Absolute}

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