kinova jaco2 TrajectoryPoint

kinova jaco2 TrajectoryPoint

 

/** @brief This data structure represents a point of a trajectory. It contains the position a limitation that you can applied.
 *  \struct TrajectoryPoint KinovaTypes.h "Definition"
 */
struct TrajectoryPoint
{
    /**
     * @brief Position information that described this trajectory point.
     */
    UserPosition Position;

    /**
     * @brief A flag that indicates if the limitation are active or not (1 is active 0 is not).
     */
    int LimitationsActive;

    /**
    * @brief A flag that indicates if the tracjetory's synchronization is active. (1 is active 0 is not). ONLY AVAILABLE IN ANGULAR CONTROL.
    */
    int SynchroType;

    /**
     * @brief Limitation applied to this point if the limitation flag is active.
     */
    Limitation Limitations;

    void InitStruct()
    {
        Position.InitStruct();
        LimitationsActive = 0;
        SynchroType = 0;
        Limitations.InitStruct();
    }
};

 

 

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