---
title: "WaypointSettings< WAYPOINT_TYPE::WP_ABSOLUTE >"
product: "LumiScan VGR"
component: "lumiscan-vgr"
version: "1.8.4"
display_version: "1.8.4.6"
latest_version: true
language: "en"
url: "https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/waypoint-settings-waypoint-type-wp-absolute.html"
---

# WaypointSettings< WAYPOINT_TYPE::WP_ABSOLUTE > – LumiScan VGR

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>](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/waypoint-settings-waypoint-type-wp-grip-point.html). |
| `WP_CLONE` | See [WaypointSettings\<WAYPOINT_TYPE::WP_CLONE>](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/waypoint-settings-waypoint-type-wp-clone.html). |
| `WP_ABSOLUTE` | See [WaypointSettings\<WAYPOINT_TYPE::WP_ABSOLUTE>](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/waypoint-settings-waypoint-type-wp-absolute.html#). |
| `WP_RELATIVE` | See [WaypointSettings\<WAYPOINT_TYPE::WP_RELATIVE>](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/waypoint-settings-waypoint-type-wp-relative.html). |