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Inverse Kinematics Parameter Structure rm_inverse_kinematics_params_t

Class member variable description

  • Previous joint angle q_in

    Unit: °.

    C++
    float rm_inverse_kinematics_params_t::q_in[ARM_DOF]
  • Target pose q_pose

    C++
    rm_pose_t rm_inverse_kinematics_params_t::q_pose

    Jump to rm_pose_t for details of the structure.

  • Orientation parameter type flag

    0: quaternion, 1: Euler angle.

    C++
    uint8_t rm_inverse_kinematics_params_t::flag