lmc_tg_move_param Struct Reference

Trjecotry generator move parameter. More...

#include <lmc_tg.h>

Data Fields
double	v
double	acc
double	time
unsigned int	smooth_move_to_next
double	blend_radius
unsigned int	interruptable

Detailed Description

Trjecotry generator move parameter.

Note

movej, movel, movec and singluarity move share same parameter data structure.

Examples:

example_tg.cc.

Definition at line 125 of file lmc_tg.h.

Field Documentation

double acc

Acceleration parameter

Examples:

example_tg.cc.

Definition at line 127 of file lmc_tg.h.

double blend_radius

Blend radius parameter. Not work for singularity robust move.

Examples:

example_tg.cc.

Definition at line 130 of file lmc_tg.h.

unsigned int interruptable

Interruptable means we can skip this move in middle and goto next move. Not work for singularity robust move.

Examples:

example_tg.cc.

Definition at line 130 of file lmc_tg.h.

unsigned int smooth_move_to_next

Parameter indicate whether there is a blend radius. Not work for singularity robust move.

Examples:

example_tg.cc.

Definition at line 128 of file lmc_tg.h.

double time

Time parameter

Examples:

example_tg.cc.

Definition at line 127 of file lmc_tg.h.

double v

< Velocity parameter

Examples:

example_tg.cc.

Definition at line 126 of file lmc_tg.h.

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

• lmc_tg.h