osi3::MotionRequest::DesiredState Struct Reference

The desired state is calculated by the function as a result of the motion planning stack. More...

Collaboration diagram for osi3::MotionRequest::DesiredState:

Public Attributes

optional Timestamp timestamp = 1
 A reference to Timestamp message. More...
 
optional Vector3d position = 2
 Intended position to be reached in in x-, y-, and z-direction. More...
 
optional Orientation3d orientation = 3
 Intended orientation to be reached containing yaw, pitch and roll angle. More...
 
optional Vector3d velocity = 4
 Intended velocity to be reached in in x-, y-, and z-direction. More...
 
optional Vector3d acceleration = 5
 Intended acceleration to be reached in x-, y-, and z-direction. More...
 

Detailed Description

The desired state is calculated by the function as a result of the motion planning stack.

The actuator management is supposed to reach the desired state at the specified time.

Member Data Documentation

◆ timestamp

optional Timestamp osi3::MotionRequest::DesiredState::timestamp = 1

A reference to Timestamp message.

◆ position

optional Vector3d osi3::MotionRequest::DesiredState::position = 2

Intended position to be reached in in x-, y-, and z-direction.

◆ orientation

optional Orientation3d osi3::MotionRequest::DesiredState::orientation = 3

Intended orientation to be reached containing yaw, pitch and roll angle.

◆ velocity

optional Vector3d osi3::MotionRequest::DesiredState::velocity = 4

Intended velocity to be reached in in x-, y-, and z-direction.

Unit: m/s

◆ acceleration

optional Vector3d osi3::MotionRequest::DesiredState::acceleration = 5

Intended acceleration to be reached in x-, y-, and z-direction.

Unit: m/s^2


  • osi_motionrequest.proto