Struct representing orientation constraint params. More...

#include <append_orientation_constraint.hpp>

Public Member Functions
std::optional< std::string >	validate () const
	Validates the orientation and tolerance values. More...

Public Attributes
std::string	constraint_frame
	The frame the constraints are expressed in. More...

std::string	link_frame
	The frame the constraints apply to. More...

double	x_axis_orientation
	The link's desired orientation (in radians), with respect to to the constraint frame. More...

double	y_axis_orientation

double	z_axis_orientation

double	x_axis_tolerance
	The tolerance on the three vector components of the orientation error, in radians. More...

double	y_axis_tolerance

double	z_axis_tolerance

Detailed Description

Struct representing orientation constraint params.

Member Function Documentation

std::optional< std::string > OrientationConstraintParams::validate ( ) const

Validates the orientation and tolerance values.

Returns: Nothing if successful, else an error string describing the violated values.

std::string OrientationConstraintParams::constraint_frame

The frame the constraints are expressed in.

std::string OrientationConstraintParams::link_frame

The frame the constraints apply to.

double OrientationConstraintParams::x_axis_orientation

The link's desired orientation (in radians), with respect to to the constraint frame.

double OrientationConstraintParams::x_axis_tolerance

The tolerance on the three vector components of the orientation error, in radians.

double OrientationConstraintParams::y_axis_orientation

double OrientationConstraintParams::y_axis_tolerance

double OrientationConstraintParams::z_axis_orientation

double OrientationConstraintParams::z_axis_tolerance

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