24#ifndef _PLUGINS_OPENRAVE_TYPES_H_
25#define _PLUGINS_OPENRAVE_TYPES_H_
27#include <core/utils/refptr.h>
28#include <openrave/openrave.h>
35class OpenRaveEnvironment;
37class OpenRaveManipulator;
83 OpenRAVE::IkParameterization
Fawkes library namespace.
target_type_t
Target types.
@ TARGET_TRANSFORM
Target: absolute endeffector translation and rotation.
@ TARGET_IKPARAM
Target: OpenRAVE::IkParameterization string.
@ TARGET_RELATIVE
Target: relative endeffector translation, based on robot's coordinate system.
@ TARGET_RAW
Target: Raw string, passed to OpenRAVE's BaseManipulation module.
@ TARGET_JOINTS
Target: motor joint values.
@ TARGET_NONE
No valid target.
@ TARGET_RELATIVE_EXT
Target: relative endeffector translation, based on arm extension.
RefPtr< OpenRaveEnvironment > OpenRaveEnvironmentPtr
RefPtr to OpenRaveEnvironment.
RefPtr< OpenRaveRobot > OpenRaveRobotPtr
RefPtr to OpenRaveRobot.
RefPtr< OpenRaveManipulator > OpenRaveManipulatorPtr
RefPtr to OpenRaveManipulator.
euler_rotation_t
Euler rotations.
Struct containing angle of current motor, its number in OpenRAVE and corresponding motor number of re...
unsigned int no_device
motor number of real device
unsigned int no
motor number in OpenRAVE
Struct containing information about the current target.
float qz
z value of quaternion
float x
translation on x-axis
float qy
y value of quaternion
OpenRaveManipulatorPtr manip
target manipulator configuration
OpenRAVE::IkParameterization ikparam
OpenRAVE::IkParameterization; each target is implicitly transformed to one by OpenRAVE.
float qw
w value of quaternion
bool solvable
target IK solvable
target_type_t type
target type
float z
translation on z-axis
std::string raw_cmd
raw command passed to the BaseManipulator module, e.g.
float y
translation on y-axis
std::string plannerparams
additional string to be passed to planner, i.e.
float qx
x value of quaternion