Data Sheet

41
gpArmKinematics->SetConvergenceCondition(0.001, 5.0)
sets convergence for IK. 1
st
value to determine solution; second value
maximum allowed.
gvdGoalCalculationAngleRad.resize(gpRobotisArm->GetRobotInfo()->size())
setup target pose value (rad).
gvdRealCalculationAngleRad.resize(gpRobotisArm->GetRobotInfo()->size())
current pose value (rad).
gvdGoalDynamixelAngleRad.resize(gpRobotisArm->GetRobotInfo()->size())
target joint’s position value (rad)
gvdRealDynamixelAngleRad.resize(gpRobotisArm->GetRobotInfo()->size())
actual joint’s position value (rad).
gviGoalDynamixelAngleUnit.resize(gpRobotisArm->GetRobotInfo()->size())
actual joint’s target position value (value).
gviRealDynamixelAngleUnit.resize(gpRobotisArm->GetRobotInfo()->size())
actual joint’s position value.(value).
gviPositionPGain.resize(gpRobotisArm->GetRobotInfo()->size())
Position P Gain value.
gviPositionIGain.resize(gpRobotisArm->GetRobotInfo()->size())
Position I Gain value.
gviPositionDGain.resize(gpRobotisArm->GetRobotInfo()->size())
Position D Gain value.