SymmetrySettings< SYMMETRY_TYPE::ROTATION >
Define a rotation symmetry.
Member Functions
virtual SYMMETRY_TYPE type() const override-
JSON Type: string +Requirement: Must be SYMMETRY_TYPE::ROTATION. Type of the symmetry.
Member Variables
center-
Eigen::Vector3f, default:\{Eigen::Vector3f::Zero()\}JSON Type: array +Requirement: Must have three elements. Center of the rotation.
axis-
Eigen::Vector3f, default:\{Eigen::Vector3f::UnitZ()\}JSON Type: array +Requirement: Must have three elements. Norm must not be zero. Axis of the rotation.
angleMinDeg-
float, default:\{0.0f\}JSON Type: float +Requirement: Must be less or equal to angleMaxDeg. Minimum rotation angle around the rotation axis.
angleMaxDeg-
float, default:\{360.0f\}JSON Type: float +Requirement: Must be greater or equal to angleMinDeg. Maximum rotation angle around the rotation axis.
angleStepDeg-
float, default:\{10.0f\}JSON Type: float +Requirement: Must be greater than zero. Angle discretization stepsize.
sortingRefDirInRobotBase-
Eigen::Vector3f, default:\{Eigen::Vector3f::UnitX()\}Reference direction for sorting symmetric grip points. JSON Type: array
sortedDirInTcp-
Eigen::Vector3f, default:\{Eigen::Vector3f::UnitX()\}Direction use to sort, align with. It is represent Tcp coordinate at grip position. After sorting, the sortedDirInTcp with least angle toward sortingRefDirInRobotBase will has higher priority JSON Type: array