Struct EndEffector

• Defined in File trossen_arm_type.hpp

Struct Documentation

struct EndEffector

End effector properties.

Public Members

Link palm = {}

Properties of the palm link.

Link finger_left = {}

Properties of the left finger link.

Link finger_right = {}

Properties of the right finger link.

double offset_finger_left = {0.0}

Offset from the palm center to the left carriage center in m in home configuration.

double offset_finger_right = {0.0}

Offset from the palm center to the right carriage center in m in home configuration.

double pitch_circle_radius = {0.0}

Pitch circle radius in m.

std::array<double, 6> t_flange_tool = {}

The tool frame pose measured in the flange frame.

Note

The first 3 elements are the translation and the last 3 elements are the angle-axis representation of the rotation