C, C++:

Inverse Kinematics Parameter Structure rm_inverse_kinematics_params_t

Class member variable description

• Previous joint angle q_in

  Unit: °.

  float rm_inverse_kinematics_params_t::q_in[ARM_DOF]

• Target pose q_pose

  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.

  uint8_t rm_inverse_kinematics_params_t::flag