#include <erk_capi_types.h>

Public Attributes
DFRAME	CartPos
	Cartesian position. More...

double	JointPos [ER_KIN_DOFS]
	Joint position. More...

char	Configuration [ER_MAXSTR]
	Manipulator configuration string. More...

double	ElapsedTime
	Output: Elapsed time for the returned step, if 0, no valid step is returned. More...

long	JointLimit
	Bitmask, specifies which axes reached a joint limit. It is zero if there are no joint limits reached. More...

long	NumberOfEvents
	Specifies the number of events, tbd. More...

long	NumberofMessages
	Specifies the number of messages, tbd. More...

double	TrajectoryTime
	resulted trajectory time More...

TErTargetID	TargetID
	unique target identifier More...

TErTrackingWindowID	TrackingWindowID
	unique tracking window identifier More...

long	TrackingWindowStatus
	tracking window status, TRK_WND_NOT_ACTIVE, TRK_WND_WAITING, TRK_WND_INSIDE, TRK_WND_OUT_OF_BOUNDARY More...

Member Data Documentation

◆ CartPos

DFRAME _NEXT_STEP_DATA::CartPos

Cartesian position.

◆ Configuration

char _NEXT_STEP_DATA::Configuration[ER_MAXSTR]

Manipulator configuration string.

◆ ElapsedTime

double _NEXT_STEP_DATA::ElapsedTime

Output: Elapsed time for the returned step, if 0, no valid step is returned.

◆ JointLimit

long _NEXT_STEP_DATA::JointLimit

Bitmask, specifies which axes reached a joint limit. It is zero if there are no joint limits reached.

◆ JointPos

double _NEXT_STEP_DATA::JointPos[ER_KIN_DOFS]

Joint position.

◆ NumberOfEvents

long _NEXT_STEP_DATA::NumberOfEvents

Specifies the number of events, tbd.

◆ NumberofMessages

long _NEXT_STEP_DATA::NumberofMessages

Specifies the number of messages, tbd.

◆ TargetID

TErTargetID _NEXT_STEP_DATA::TargetID

unique target identifier

◆ TrackingWindowID

TErTrackingWindowID _NEXT_STEP_DATA::TrackingWindowID

unique tracking window identifier

◆ TrackingWindowStatus

long _NEXT_STEP_DATA::TrackingWindowStatus

tracking window status, TRK_WND_NOT_ACTIVE, TRK_WND_WAITING, TRK_WND_INSIDE, TRK_WND_OUT_OF_BOUNDARY

◆ TrajectoryTime

double _NEXT_STEP_DATA::TrajectoryTime

resulted trajectory time

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

erk_capi_types.h

Public Attributes