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

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

double offset_finger_right

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

double pitch_circle_radius

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