Struct for containing max_step for computeCartesianPath. More...

#include <cartesian_interpolator.hpp>

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 91 of file cartesian_interpolator.hpp.

Constructor & Destructor Documentation

◆ MaxEEFStep() [1/2]

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

inline

Definition at line 93 of file cartesian_interpolator.hpp.

◆ MaxEEFStep() [2/2]

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

inline

Definition at line 97 of file cartesian_interpolator.hpp.

Member Data Documentation

◆ rotation

double moveit::core::MaxEEFStep::rotation

Definition at line 102 of file cartesian_interpolator.hpp.

◆ translation

double moveit::core::MaxEEFStep::translation

Definition at line 101 of file cartesian_interpolator.hpp.

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

moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.hpp

Public Member Functions