roboticslab::AsibotConfiguration::Pose Struct Reference

Helper class to store a specific robot configuration.

#include <AsibotConfiguration.hpp>

Public Types
enum	orientation { FORWARD , REVERSED }
	Orientation of axis 1 ('forward' or 180º offset).
enum	elbow { UP , DOWN }
	Orientation of axes 2-3 (elbow up/down).

Public Member Functions
	Pose ()
	Constructor.
void	storeAngles (double q1, double q2, double q3, double q4, double q5, orientation orient, elbow elb)
	Initializes angle values (in degrees).
bool	checkJointsInLimits (JointsIn qMin, JointsIn qMax) const
	Checks whether current configuration is reachable.
void	retrieveAngles (JointsOut q) const
	Returns stored angles.
std::string	toString () const
	Serializes stored data.

Public Attributes
double	_q1
double	_q2
double	_q3
double	_q4
double	_q5
bool	valid
orientation	_orient
elbow	_elb

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

• libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.hpp
• libraries/YarpPlugins/AsibotSolver/AsibotConfiguration.cpp