rb::kin::ArmAxisValue Struct Reference

A struct variable for joints of robot arm ArmAxisValue storage the output of Inverse kinematic. More...

#include <kinematic_chain.h>

Public Attributes
rb::math::MatrixX	axis_value
	Joints Angle of 8 solutions.
int	fit
	Use following method to find the fittest solution. More...
std::array< bool, 8 >	solution_check = {{0}}
	check if having solution. More...
std::array< bool, 8 >	singular_check = {{0}}
	check if in singular point. More...
std::array< bool, 8 >	limit_check = {{0}}
	check if over angle limit. More...

Detailed Description

A struct variable for joints of robot arm ArmAxisValue storage the output of Inverse kinematic.

Member Data Documentation

int rb::kin::ArmAxisValue::fit

Use following method to find the fittest solution.

the index of the fittest solution.

std::array<bool, 8> rb::kin::ArmAxisValue::limit_check = {{0}}

check if over angle limit.

std::array<bool, 8> rb::kin::ArmAxisValue::singular_check = {{0}}

check if in singular point.

std::array<bool, 8> rb::kin::ArmAxisValue::solution_check = {{0}}

check if having solution.

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

• kinematic_chain.h