PikRos::IkTask Struct Reference

Ik task structure. More...

#include <PikRos.hpp>

Public Member Functions
	IkTask (IkTaskType t_type, const std::string &t_frame_name, const Eigen::VectorXd &t_desired_value, ApproachAxis t_approach_axis=Z)
	Construct a new Ik Task object. More...
Eigen::Vector3d	getAppAxisVector () const
	Get the approach axis Vector.

Public Attributes
IkTaskType	type
std::string	frame_name
Eigen::VectorXd	desired_value
ApproachAxis	approach_axis

Detailed Description

Ik task structure.

Constructor & Destructor Documentation

IkTask()

IkTask::IkTask	(	IkTaskType	t_type,
		const std::string &	t_frame_name,
		const Eigen::VectorXd &	t_desired_value,
		ApproachAxis	t_approach_axis = Z
	)

Construct a new Ik Task object.

Parameters

t_type	IkTask type
t_frame_name	MoveIt frame name
t_desired_value	IkTask desired value
t_approach_axis	Which frame axis is considered the approach axis. Used only for the task type FRAME_APPROACH_AXIS

---

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

• include/PikRos.hpp
• src/PikRos.cpp