armarx::HeadIKUnitInterface

Overview

interface HeadIKUnitInterface extends SensorActorUnitInterface

Implements an interface to a HeadIKUnit.

Operation Index

setCycleTime: setCycleTime allows to set the cycle time with which the head IK is solved and the head is controlled within a periodic task.
setHeadTarget: setHeadTarget allows to set a new target position for the head.

Operations

void setCycleTime(int milliseconds)

setCycleTime allows to set the cycle time with which the head IK is solved and the head is controlled within a periodic task.

Parameters

milliseconds: Cycle time in milliseconds.

void setHeadTarget(string robotNodeSetName, FramedPositionBase targetPosition)

setHeadTarget allows to set a new target position for the head.

Parameters

robotNodeSetName: Name of kinematic chain/nodeset with head as TCP.
targetPosition: in x, y, and z.