Circular motion parameters definition. More...

#include <type_def.h>

Collaboration diagram for arcs::common_interface::CircleParameters:

Public Attributes
std::vector< double >	pose_via
	Pose of the intermediate point in circular motion.

std::vector< double >	pose_to
	Pose of the end point in circular motion.

double	a
	Acceleration, unit: m/s^2.

double	v
	Speed, unit: m/s.

double	blend_radius
	Blending radius, unit: m.

double	duration
	Running time, unit: s.

double	helix

double	spiral

double	direction

int	loop_times
	Currently not supported.

Detailed Description

Circular motion parameters definition.

Definition at line 697 of file type_def.h.

Member Data Documentation

◆ a

double arcs::common_interface::CircleParameters::a

Acceleration, unit: m/s^2.

Definition at line 701 of file type_def.h.

◆ blend_radius

double arcs::common_interface::CircleParameters::blend_radius

Blending radius, unit: m.

Definition at line 703 of file type_def.h.

◆ direction

double arcs::common_interface::CircleParameters::direction

Definition at line 707 of file type_def.h.

◆ duration

double arcs::common_interface::CircleParameters::duration

Running time, unit: s.

Definition at line 704 of file type_def.h.

◆ helix

double arcs::common_interface::CircleParameters::helix

Definition at line 705 of file type_def.h.

◆ loop_times

int arcs::common_interface::CircleParameters::loop_times

Currently not supported.

Definition at line 708 of file type_def.h.

◆ pose_to

std::vector<double> arcs::common_interface::CircleParameters::pose_to

Pose of the end point in circular motion.

Definition at line 700 of file type_def.h.

◆ pose_via

std::vector<double> arcs::common_interface::CircleParameters::pose_via

Pose of the intermediate point in circular motion.

Definition at line 699 of file type_def.h.

◆ spiral

double arcs::common_interface::CircleParameters::spiral

Definition at line 706 of file type_def.h.

◆ v

double arcs::common_interface::CircleParameters::v

Speed, unit: m/s.

Definition at line 702 of file type_def.h.

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

include/aubo/type_def.h

Public Attributes