Enum cartesian_trajectories::pose_generators::RelativeMotionFrame[−][src]

pub enum RelativeMotionFrame {
    Base,
    Tcp,
    Unit,
}

Describes the reference frame for a relative motion.

Variants

Base

Performs the motion relative to the robots base coordinate system. Concretely the displacement is multiplied from the left to the start pose.

Tcp

Performs the motion relative to the robots tool center point coordinate system. Concretely the displacement is multiplied from the right to the start pose. This means that if the tool is rotated the robot will translate in the corresponding direction of the tool.

Unit

Performs the motion relative to the Unit frame (Identity Matrix). Concretely that means that the start pose is completely ignored. This type of motion is good when you apply it to an already given Transformation

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