CartesianNaturalPositionControllerProxy::WaypointTargets Struct Reference

#include <RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.h>

Public Attributes
std::optional< float >	minElbowHeight = std::nullopt
NaturalDiffIK::Mode	setOri
Eigen::Matrix4f	tcpTarget
std::vector< float >	userNullspaceTargets

Detailed Description

Definition at line 81 of file CartesianNaturalPositionControllerProxy.h.

Member Data Documentation

minElbowHeight

std::optional<float> minElbowHeight = std::nullopt

Definition at line 85 of file CartesianNaturalPositionControllerProxy.h.

setOri

NaturalDiffIK::Mode setOri

Definition at line 84 of file CartesianNaturalPositionControllerProxy.h.

tcpTarget

Eigen::Matrix4f tcpTarget

Definition at line 83 of file CartesianNaturalPositionControllerProxy.h.

userNullspaceTargets

std::vector<float> userNullspaceTargets

Definition at line 86 of file CartesianNaturalPositionControllerProxy.h.

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

• RobotAPI/libraries/natik/CartesianNaturalPositionControllerProxy.h