WaypointSettings< WAYPOINT_TYPE::WP_RELATIVE >

Defines a waypoint relative to another waypoint (e.g. relative to the grip point).

A reference transformation "tfRef" is constructed such that its translation is equal to the translation of the referencePosition waypoint and its orientation is equivalent to the referenceOrientation waypoint. Depending on the value of "applyFrom" the full relative waypoint transform is given as:* "LEFT" : transform * tfRef + * "RIGHT": tfRef * transform The effect of this is, that "LEFT" implies a transformation in relation to ROBOT coordinates (extrinsic), while "RIGHT" implies a transformation in OBJECT coordinates (intrinsic). Visual examples for these settings can (soon) be found in the manual of VGR.

Member Functions

virtual WAYPOINT_TYPE type() const override: JSON Type: string +Requirement: Must be WAYPOINT_TYPE::WP_RELATIVE. 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".

referencePosition: std::string, default: \{""\} JSON Type: string +Requirement: Must be a valid waypoint id. Name of the waypoint this ones position is defined relative to.

referenceOrientation: std::string, default: \{""\} JSON Type: string +Requirement: Must be not empty. Name of the waypoint this ones orientation is defined relative to.

applyFrom: REL_WAYPOINT_ORDER, default: \{REL_WAYPOINT_ORDER::LEFT\} JSON Type: string +Requirement: Must be a REL_WAYPOINT_ORDER. Define if the relative transform is applied from the left or the right.

id: std::string JSON Type: string +Requirement: Must be unique and not empty. Identifier for the waypoint.

Enumerations

Table 1. REL_WAYPOINT_ORDER
Value	Description
`LEFT`	The relative transform is multiplied from the left to its reference.
`RIGHT`	The relative transform is multiplied from the right to its reference.

Table 2. 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>.