KatanaNativeInterface $VERSION$

TLMtrajectory Struct Reference

[LM] linear movement: parameters More...

#include <lmBase.h>

Collaboration diagram for TLMtrajectory:

List of all members.

Public Attributes

double * arr_actpos
 current position in cartesian units
double * arr_tarpos
 target position in cartesian units
int distance
 distance between target and current position
double time
 time that it takes from current position to target position
double dt
 time elapsed between one step and the next one
short number_of_points
 number of points to interpolate
TLM_pointspoints
 points to be interpolated
short ** motors
 motor position in each point to be interpolated
double ** derivatives
 second order derivatives of the polinomes that join the points, in the points
double *** coefficients
 coefficients of the polinomes that join the points
short *** parameters
 parameters to be sent in the command 'L' packet

Detailed Description

[LM] linear movement: parameters

Definition at line 43 of file lmBase.h.


Member Data Documentation

current position in cartesian units

Definition at line 44 of file lmBase.h.

target position in cartesian units

Definition at line 45 of file lmBase.h.

coefficients of the polinomes that join the points

Definition at line 53 of file lmBase.h.

second order derivatives of the polinomes that join the points, in the points

Definition at line 52 of file lmBase.h.

distance between target and current position

Definition at line 46 of file lmBase.h.

time elapsed between one step and the next one

Definition at line 48 of file lmBase.h.

motor position in each point to be interpolated

Definition at line 51 of file lmBase.h.

number of points to interpolate

Definition at line 49 of file lmBase.h.

parameters to be sent in the command 'L' packet

Definition at line 54 of file lmBase.h.

points to be interpolated

Definition at line 50 of file lmBase.h.

time that it takes from current position to target position

Definition at line 47 of file lmBase.h.


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