TcpPose Struct Reference

Data type to represent robot arm's end-effector pose in 3D cartesian space. More...

#include <control_base.hpp>

Public Attributes
double	x
double	y
double	z
double	alpha
double	beta
double	gamma

Detailed Description

Data type to represent robot arm's end-effector pose in 3D cartesian space.

Note

TCP stands for Tool Center Point. Usually it refers to The location on the end effector or tool of a robot manipulator whose position and orientation define the coordinates of the controlled object.

Member Data Documentation

double TcpPose::alpha

Euler angle of the rotation along X axis.

double TcpPose::beta

Euler angle of the rotation along Y axis.

double TcpPose::gamma

Euler angle of the rotation along Z axis.

double TcpPose::x

Translation along X axis.

double TcpPose::y

Translation along Y axis.

double TcpPose::z

Translation along Z axis.

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The documentation for this struct was generated from the following file:

• include/robot_interface/control_base.hpp