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::core::Ptr< AssemblyControlResponse >	Ptr
	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::core::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.

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

• AssemblyControlResponse.hpp