Struct TargetPoseGenerator

• Defined in File target_pose_generator.h

Inheritance Relationships

Derived Type

• public reach::PointCloudTargetPoseGenerator (Class PointCloudTargetPoseGenerator)

Struct Documentation

struct TargetPoseGenerator

Interface for generating Cartesian target poses for the reach study.

Subclassed by reach::PointCloudTargetPoseGenerator

Public Types

using Ptr = std::shared_ptr<TargetPoseGenerator>

using ConstPtr = std::shared_ptr<const TargetPoseGenerator>

Public Functions

virtual ~TargetPoseGenerator() = default

virtual VectorIsometry3d generate() const = 0

Creates a list of Cartesian target poses for the reach study.

The Cartesian poses should be relative to the robot kinematic base frame, and the pose z-axis should oppose the orientation of the robot tool z-axis