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

Target kinematic constraints at a waypoint. More...

#include <arm.hpp>

Public Attributes
std::vector< double >	velocities_degs_per_sec
boost::optional< std::vector< double > >	accelerations_degs_per_sec2

Detailed Description

Target kinematic constraints at a waypoint.

velocities is required whenever this struct is present; accelerations is independently optional. Both are one value per joint and, like everything else on this interface, denominated in degrees: velocities in degrees per second and accelerations in degrees per second squared.

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

• src/viam/sdk/components/arm.hpp