The MoveIt Motion Planning Framework for ROS 2.
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moveit::core::MaxEEFStep Struct Reference

Struct for containing max_step for computeCartesianPath. More...

#include <cartesian_interpolator.h>

Public Member Functions

 MaxEEFStep (double translation, double rotation)
 MaxEEFStep (double step_size)

Public Attributes

double translation
double rotation

Detailed Description

Struct for containing max_step for computeCartesianPath.

Setting translation to zero will disable checking for translations. The same goes for rotation. Initializing with only one value (translation) sets the rotation such that 1 cm of allowed translation = 2 degrees of allowed rotation.

Definition at line 83 of file cartesian_interpolator.h.

Constructor & Destructor Documentation

◆ MaxEEFStep() [1/2]

moveit::core::MaxEEFStep::MaxEEFStep ( double  translation,
double  rotation 

Definition at line 85 of file cartesian_interpolator.h.

◆ MaxEEFStep() [2/2]

moveit::core::MaxEEFStep::MaxEEFStep ( double  step_size)

Definition at line 89 of file cartesian_interpolator.h.

Member Data Documentation

◆ rotation

double moveit::core::MaxEEFStep::rotation

Definition at line 94 of file cartesian_interpolator.h.

◆ translation

double moveit::core::MaxEEFStep::translation

Definition at line 93 of file cartesian_interpolator.h.

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