RobWorkProject
Public Types | Public Member Functions | Public Attributes | List of all members
AssemblyControlResponse Class Reference

The output from a AssemblyControlStrategy. More...

#include <AssemblyControlResponse.hpp>

Public Types

enum  Type { POSITION, POSITION_TRAJECTORY, VELOCITY, HYBRID_FT_POS }
 The control mode. More...
 
typedef rw::common::Ptr< AssemblyControlResponsePtr
 smart pointer type to this class
 
typedef enum rwlibs::assembly::AssemblyControlResponse::Type Type
 The control mode.
 

Public Member Functions

 AssemblyControlResponse ()
 Constructor.
 
virtual ~AssemblyControlResponse ()
 Destructor.
 

Public Attributes

Type type
 Choose the control mode.
 
rw::math::Transform3D femaleTmaleTarget
 Positional control of the robot.
 
rw::common::Ptr< rw::trajectory::Trajectory< rw::math::Transform3D<> > > worldTendTrajectory
 Trajectory control of the robot (in world coordinates).
 
rw::math::VelocityScrew6D femaleTmaleVelocityTarget
 Relative velocity target for velocity control.
 
rw::math::Rotation3D offset
 Specify the coordinate axes for hybrid force/torque control.
 
rw::math::VectorND< 6, bool > selection
 Select which coordinates axes to use force/torque control instead of position control.
 
rw::math::Wrench6D force_torque
 Specify the force and torque target - only the elements specified by the selection vector is used.
 
bool done
 Indicate whether or not the control strategy has finished the assembly operation.
 
bool success
 Indicate if the insertion succeeded.
 

Detailed Description

The output from a AssemblyControlStrategy.

Member Enumeration Documentation

◆ Type

enum Type

The control mode.

Enumerator
POSITION 

Position control.

POSITION_TRAJECTORY 

Trajectory control.

VELOCITY 

Velocity control.

HYBRID_FT_POS 

Hybrid position and force/torque control.


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