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, const std::array< double, kMaxExtAxes > &_q_e={})
	Construct an instance of JPos. More...

std::string	str () const

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

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 346 of file data.hpp.

Constructor & Destructor Documentation

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

inline

Construct an instance of JPos.

Parameters

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

Definition at line 353 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, kSerialJointDoF> flexiv::rdk::JPos::q = {}

Joint positions of the arm. Unit: [degree]

Definition at line 362 of file data.hpp.

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 367 of file data.hpp.

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