libkindrv 0.1
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KinDrv::jaco_position_t Struct Reference

Jaco universal position struct. More...

#include <types.h>

Public Attributes

union { 
 
   float   joints [6] 
 
   struct { 
 
      float   position [3] 
 
      float   rotation [3] 
 
   }  
 
};  
 
float finger_position [3]
 

Detailed Description

Jaco universal position struct.

Contains 9 floats. The last 3 are finger positions. The first 6 can be either angular joint values, or cartesian position and rotation values.

Member Data Documentation

◆ finger_position

float KinDrv::jaco_position_t::finger_position[3]

Array containing the three finger positions.

◆ joints

float KinDrv::jaco_position_t::joints[6]

Reading the position as an array of joint values.

◆ position

float KinDrv::jaco_position_t::position[3]

Reading the position as arrays of position(=this) and rotation values.

◆ rotation

float KinDrv::jaco_position_t::rotation[3]

Reading the position as arrays of position and rotation(=this) values.


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