class CartesianWaypoint

Member values

Member name	Data type	Description
pose	Pose	Target Cartesian Pose
reference_frame	uint32	The reference frame used for the goal Pose
maximum_linear_velocity	float32	Maximum linear velocity (in m/s) during movement (optional)
maximum_angular_velocity	float32	Maximum angular velocity (in deg/s) during movement (optional)
blending_radius	float32	Blending radius (in m) to use for the movement (if this waypoint is not an endpoint).

Member functions

Function name	Return type	Input type	Description
has_pose() const	bool	void	Returns true if pose is set.
pose()	const Pose&	void	Returns the current value of pose. If pose is not set, returns a Pose with none of its fields set (possibly pose::default_instance()).
mutable_pose()	Pose *	void	Returns a pointer to the mutable Pose object that stores the field's value. If the field was not set prior to the call, then the returned Pose will have none of its fields set (i.e. it will be identical to a newly-allocated Pose). After calling this, has_pose() will return true and pose() will return a reference to the same instance of Pose.
clear_pose()	void	void	Clears the value of the field. After calling this, has_pose() will return false and pose() will return the default value.
set_allocated_pose()	void	Pose *	Sets the Pose object to the field and frees the previous field value if it exists. If the Pose pointer is not NULL, the message takes ownership of the allocated Pose object and has_ Pose() will return true. Otherwise, if the pose is NULL, the behavior is the same as calling clear_pose().
release_pose()	Pose *	void	Releases the ownership of the field and returns the pointer of the Pose object. After calling this, caller takes the ownership of the allocated Pose object, has_pose() will return false, and pose() will return the default value.
reference_frame() const	uint32	void	Returns the current value of reference_frame. If the reference_frame is not set, returns 0.
set_reference_frame()	void	uint32	Sets the value of reference_frame. After calling this, reference_frame() will return value.
clear_reference_frame()	void	void	Clears the value of reference_frame. After calling this, reference_frame() will return the empty string/empty bytes.
maximum_linear_velocity()	float32	void	Returns the current value of maximum_linear_velocity. If the maximum_linear_velocity is not set, returns 0.
set_maximum_linear_velocity()	void	float32	Sets the value of maximum_linear_velocity. After calling this, maximum_linear_velocity() will return value.
clear_maximum_linear_velocity()	void	void	Clears the value of maximum_linear_velocity. After calling this, maximum_linear_velocity() will return 0.
maximum_angular_velocity()	float32	void	Returns the current value of maximum_angular_velocity. If the maximum_angular_velocity is not set, returns 0.
set_maximum_angular_velocity()	void	float32	Sets the value of maximum_angular_velocity. After calling this, maximum_angular_velocity() will return value.
clear_maximum_angular_velocity()	void	void	Clears the value of maximum_angular_velocity. After calling this, maximum_angular_velocity() will return 0.
blending_radius()	float32	void	Returns the current value of blending_radius. If the blending_radius is not set, returns 0.
set_blending_radius()	void	float32	Sets the value of blending_radius. After calling this, blending_radius() will return value.
clear_blending_radius()	void	void	Clears the value of blending_radius. After calling this, blending_radius() will return 0.

Parent topic: Base (C++)