viam::sdk::Arm::trajectory_point Struct Reference

A single waypoint in a streamed joint-space trajectory. More...

#include <arm.hpp>

Classes
struct	kinematic_constraints
	Target kinematic constraints at a waypoint. More...

Public Attributes
std::chrono::microseconds	time
	Offset of this waypoint from the start of the trajectory.
std::vector< double >	positions
	Target position at this waypoint, one value per joint, in degrees.
boost::optional< kinematic_constraints >	constraints
	Optional velocity and acceleration constraints at this waypoint.

Detailed Description

A single waypoint in a streamed joint-space trajectory.

The first point of a stream must have time equal to zero; subsequent points must be strictly increasing in time across the entire stream.

Member Data Documentation

time

std::chrono::microseconds viam::sdk::Arm::trajectory_point::time

Offset of this waypoint from the start of the trajectory.

Must be zero at the first point of a stream and strictly increasing thereafter. Microsecond resolution matches the SDK's google.protobuf.Duration conversion; sub-microsecond distinctions are not preserved on the wire.

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The documentation for this struct was generated from the following file:

• src/viam/sdk/components/arm.hpp