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

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}

double	state_estimate_weight {0.0}

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.
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.
state_estimate_weight	Weighting of the robot state estimate vs the target when computing the current state to continue planning from. A value of 0 means that the planner always assumes it reached its last target perfectly (open loop control), while a value of 1 means that the planner always uses the robot state estimate (closed loop control). A value between 0 and 1 means that the planner uses a weighted average of the two.