24 #ifndef __PLUGINS_OPENRAVE_TYPES_H_
25 #define __PLUGINS_OPENRAVE_TYPES_H_
27 #include <openrave/openrave.h>
37 class OpenRaveManipulator;
Target: OpenRAVE::IkParameterization string.
float qx
x value of quaternion
float x
translation on x-axis
Target: relative endeffector translation, based on arm extension.
float qz
z value of quaternion
target_type_t type
target type
Target: absolute endeffector translation and rotation.
std::string plannerparams
additional string to be passed to planner, i.e.
float z
translation on z-axis
target_type_t
Target types.
OpenRaveManipulator * manip
target manipulator configuration
float y
translation on y-axis
unsigned int no_device
motor number of real device
Target: relative endeffector translation, based on robot's coordinate system.
OpenRAVE::IkParameterization ikparam
OpenRAVE::IkParameterization; each target is implicitly transformed to one by OpenRAVE.
Struct containing information about the current target.
unsigned int no
motor number in OpenRAVE
Class containing information about all manipulator motors.
float qw
w value of quaternion
Struct containing angle of current motor, its number in OpenRAVE and corresponding motor number of re...
bool solvable
target IK solvable
Target: motor joint values.
float qy
y value of quaternion