Data structure containing robot tool parameters. More...

#include <data.hpp>

Public Attributes
double	mass = 0.0

std::array< double, 3 >	CoM = {}

std::array< double, 6 >	inertia = {}

std::array< double, kPoseSize >	tcp_location = {}

Detailed Description

Data structure containing robot tool parameters.

See also: Tool::params().

Definition at line 322 of file data.hpp.

Member Data Documentation

◆ CoM

std::array<double, 3> flexiv::rdk::ToolParams::CoM = {}

Center of mass in robot flange frame: \( [x, y, z] \). Unit: \( [m] \)

Definition at line 328 of file data.hpp.

◆ inertia

std::array<double, 6> flexiv::rdk::ToolParams::inertia = {}

Inertia at center of mass: \( [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] \). Unit: \( [kg m^2] \)

Definition at line 331 of file data.hpp.

◆ mass

double flexiv::rdk::ToolParams::mass = 0.0

Total mass. Unit: \( [kg] \)

Definition at line 325 of file data.hpp.

◆ tcp_location

std::array<double, kPoseSize> flexiv::rdk::ToolParams::tcp_location = {}

Position and orientation of the tool center point (TCP) in flange frame. Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]:[] \)

Definition at line 336 of file data.hpp.

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