Data structure representing the customized data type "JPOS" in Flexiv Elements. More...

#include <data.hpp>

Public Member Functions
	JPos (const std::array< double, kSerialJointDoF > &_q_m, const std::array< double, kMaxExtAxes > &_q_e={})
	Construct an instance of JPos. More...

std::string	str () const

Public Attributes
std::array< double, kSerialJointDoF >	q_m = {}

std::array< double, kMaxExtAxes >	q_e = {}

Detailed Description

Data structure representing the customized data type "JPOS" in Flexiv Elements.

Warning: Here [m] is used as the unit of length, whereas [mm] is used in Flexiv Elements. The conversion is automatically done when exchanging "JPOS" data type with the robot via functions like Robot::ExecutePrimitive(), Robot::SetGlobalVariables(), etc.

Definition at line 343 of file data.hpp.

Constructor & Destructor Documentation

flexiv::rdk::JPos::JPos	(	const std::array< double, kSerialJointDoF > &	_q_m,
		const std::array< double, kMaxExtAxes > &	_q_e = `{}`
	)

inline

Construct an instance of JPos.

Parameters

[in]	_q_m	Sets struct member [q_m].
[in]	_q_e	Sets struct member [q_e]. Leave empty if there's no external axis.

Definition at line 350 of file data.hpp.

std::string flexiv::rdk::JPos::str ( ) const

String representation of all data in the struct, separated by space

std::array<double, kMaxExtAxes> flexiv::rdk::JPos::q_e = {}

Joint positions (linear or angular) of the external axes. Unit: [m] or [degree]

Note: If the number of external axes \( n_e < kMaxExtAxes \), set the first \( n_e \) elements and leave the rest 0. Leave the whole array empty if there's no external axis.

Definition at line 364 of file data.hpp.

std::array<double, kSerialJointDoF> flexiv::rdk::JPos::q_m = {}

Joint positions of the robot manipulator. Unit: [degree]

Definition at line 359 of file data.hpp.

The documentation for this struct was generated from the following file: