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lebai-motion-control
3.1.6
lebai motion control C interface
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Limitation data structure for trajectory generator. More...
#include <lmc_tg_config.h>
Data Fields | |
double | jnt_max_v [LMC_MAX_JOINT_NUM] |
double | jnt_max_acc [LMC_MAX_JOINT_NUM] |
double | jnt_pos_positive_limit [LMC_MAX_JOINT_NUM] |
double | jnt_pos_negative_limit [LMC_MAX_JOINT_NUM] |
double | jnt_corner_dec_max_acc [LMC_MAX_JOINT_NUM] |
double | jnt_corner_dec_max_delta_vel [LMC_MAX_JOINT_NUM] |
double | cartesian_max_v |
double | cartesian_max_acc |
double | cartesian_max_rot_v |
double | cartesian_max_rot_acc |
unsigned int | jnt_acc_time_constant |
Limitation data structure for trajectory generator.
Definition at line 27 of file lmc_tg_config.h.
double cartesian_max_acc |
Maximum cartesian translation acc
Definition at line 35 of file lmc_tg_config.h.
double cartesian_max_rot_acc |
Maximum cartesian rotation acc
Definition at line 37 of file lmc_tg_config.h.
double cartesian_max_rot_v |
Maximum cartesian rotation vel
Definition at line 36 of file lmc_tg_config.h.
double cartesian_max_v |
Maximum cartesian translation vel
Definition at line 34 of file lmc_tg_config.h.
unsigned int jnt_acc_time_constant |
Time constant based on cycle time,now only work on PIECEWISE mode.
Definition at line 38 of file lmc_tg_config.h.
double jnt_corner_dec_max_acc[LMC_MAX_JOINT_NUM] |
Not used keep it
Definition at line 32 of file lmc_tg_config.h.
double jnt_corner_dec_max_delta_vel[LMC_MAX_JOINT_NUM] |
Not used keep it
Definition at line 33 of file lmc_tg_config.h.
double jnt_max_acc[LMC_MAX_JOINT_NUM] |
double jnt_max_v[LMC_MAX_JOINT_NUM] |
double jnt_pos_negative_limit[LMC_MAX_JOINT_NUM] |
Joint position negative limit
Definition at line 31 of file lmc_tg_config.h.
double jnt_pos_positive_limit[LMC_MAX_JOINT_NUM] |
Joint position positive limit
Definition at line 30 of file lmc_tg_config.h.