Parameters for the waypoint motion. More...
#include <waypoint_motion.hpp>
Inheritance diagram for franky::WaypointMotion< ControlSignalType, TargetType >::Params:
Public Attributes | |
| RelativeDynamicsFactor | relative_dynamics_factor {1.0} |
| bool | return_when_finished {true} |
Detailed Description
template<typename ControlSignalType, typename TargetType>
struct franky::WaypointMotion< ControlSignalType, TargetType >::Params
Parameters for the waypoint motion.
Member Data Documentation
◆ relative_dynamics_factor
template<typename ControlSignalType , typename TargetType >
| RelativeDynamicsFactor franky::WaypointMotion< ControlSignalType, TargetType >::Params::relative_dynamics_factor {1.0} |
The relative dynamics factor for this motion. This factor will get multiplied with the robot's global dynamics factor to get the actual dynamics factor for this motion.
◆ return_when_finished
template<typename ControlSignalType , typename TargetType >
| bool franky::WaypointMotion< ControlSignalType, TargetType >::Params::return_when_finished {true} |
Whether to end the motion when the last waypoint is reached or keep holding the last target.
The documentation for this struct was generated from the following file:
- /home/runner/work/franky/franky/include/franky/motion/waypoint_motion.hpp
