KinDrv::jaco_position_t Struct Reference

Jaco universal position struct. More...

#include <types.h>

Public Attributes
union {
float   joints [6]
struct {
float   position [3]
float   rotation [3]
}
};
float	finger_position [3]

Detailed Description

Jaco universal position struct.

Contains 9 floats. The last 3 are finger positions. The first 6 can be either angular joint values, or cartesian position and rotation values.

Member Data Documentation

float KinDrv::jaco_position_t::finger_position[3]

Array containing the three finger positions.

float KinDrv::jaco_position_t::joints[6]

Reading the position as an array of joint values.

float KinDrv::jaco_position_t::position[3]

Reading the position as arrays of position(=this) and rotation values.

float KinDrv::jaco_position_t::rotation[3]

Reading the position as arrays of position and rotation(=this) values.

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

• types.h