WaypointSettings< WAYPOINT_TYPE::WP_ABSOLUTE >

Defines the absolute waypoint. This waypoint defines a fixed pose in the robot coordinate system.

Member Functions

virtual WAYPOINT_TYPE type() const override: JSON Type: string +Requirement: Must be WAYPOINT_TYPE::WP_ABSOLUTE. Type of the waypoint.

Member Variables

transform: EigenTf, default: \{Eigen::Matrix4f::Identity()\} JSON Type: array of array +Requirement: Must be a valid 4x4 transformation matrix. Defines a static transformation from the robot "move-frame" to the robot "base-frame".
id: std::string JSON Type: string +Requirement: Must be unique and not empty. Identifier for the waypoint.

Enumerations

Table 1. WAYPOINT_TYPE
Value	Description
`WP_GRIP_POINT`	See WaypointSettings<WAYPOINT_TYPE::WP_GRIP_POINT>.
`WP_CLONE`	See WaypointSettings<WAYPOINT_TYPE::WP_CLONE>.
`WP_ABSOLUTE`	See WaypointSettings<WAYPOINT_TYPE::WP_ABSOLUTE>.
`WP_RELATIVE`	See WaypointSettings<WAYPOINT_TYPE::WP_RELATIVE>.