[LM] linear movement: parameters More...

#include <lmBase.h>

Collaboration diagram for TLMtrajectory:

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_points *	points
	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

◆ arr_actpos

double* TLMtrajectory::arr_actpos

current position in cartesian units

Definition at line 44 of file lmBase.h.

◆ arr_tarpos

double* TLMtrajectory::arr_tarpos

target position in cartesian units

Definition at line 45 of file lmBase.h.

◆ coefficients

double*** TLMtrajectory::coefficients

coefficients of the polinomes that join the points

Definition at line 53 of file lmBase.h.

◆ derivatives

double** TLMtrajectory::derivatives

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

Definition at line 52 of file lmBase.h.

◆ distance

int TLMtrajectory::distance

distance between target and current position

Definition at line 46 of file lmBase.h.

◆ dt

double TLMtrajectory::dt

time elapsed between one step and the next one

Definition at line 48 of file lmBase.h.

◆ motors

short** TLMtrajectory::motors

motor position in each point to be interpolated

Definition at line 51 of file lmBase.h.

◆ number_of_points

short TLMtrajectory::number_of_points

number of points to interpolate

Definition at line 49 of file lmBase.h.

◆ parameters

short*** TLMtrajectory::parameters

parameters to be sent in the command 'L' packet

Definition at line 54 of file lmBase.h.

◆ points

TLM_points* TLMtrajectory::points

points to be interpolated

Definition at line 50 of file lmBase.h.

◆ time

double TLMtrajectory::time

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:

include/KNI_LM/lmBase.h

Public Attributes