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Flexiv RDK APIs
1.4
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Flexiv RDK APIs
1.4
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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 = {} |
Data structure containing robot tool parameters.
| std::array<double, 3> flexiv::rdk::ToolParams::CoM = {} |
Center of mass in robot flange frame: \( [x, y, z] \). Unit: \( [m] \)
| std::array<double, 6> flexiv::rdk::ToolParams::inertia = {} |
Inertia at center of mass: \( [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] \). Unit: \( [kg m^2] \)
| double flexiv::rdk::ToolParams::mass = 0.0 |
Total mass. Unit: \( [kg] \)
| 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: \( [m]~[] \)
1.9.1