Detailed Description

Represents Cartesian quantities used to describe 3D spatial information.

Public Member Functions
const isom3 &	commandedOrDesiredOrMeasured () const

const isom3 &	desiredOrMeasured () const

Public Attributes
isom3	measured
	Measured Cartesian pose of a frame in space.

std::optional< isom3 >	desired
	Desired frame pose.

std::optional< isom3 >	commanded
	Commanded frame pose.

Member Function Documentation

◆ commandedOrDesiredOrMeasured()

const isom3 & commandedOrDesiredOrMeasured ( ) const

Returns

The commanded Cartesian frame if available Otherwise, returns:

the desired Cartesian frame
If unavailable, the measured Cartesian frame. This pattern is commonly used to compute compatible commands for different robot firmwares.

◆ desiredOrMeasured()

const isom3 & desiredOrMeasured ( ) const

Returns: The commanded Cartesian frame if available Otherwise, returns: the measured Cartesian frame. This pattern is commonly used to compute compatible commands for different robot firmwares.

Member Data Documentation

◆ measured

isom3 measured

Measured Cartesian pose of a frame in space.

It can deviate from the desired one due to model inaccuracies and external forces affecting the robot

◆ desired

std::optional<isom3> desired

Desired frame pose.

If not specified, the robot firmware typically uses the measured one. It may deviate from the commanded one to satisfy constraints or to incorporate additional information available to the firmware.

◆ commanded

std::optional<isom3> commanded

Commanded frame pose.

If not specified, the robot firmware typically uses the measured one.

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

RoboticsPlugin/Include/ImFusion/Robotics/RobotState.h