That represents the type of a position. If used during a trajectory, the type of position will change the behaviour of the robot. For example if the position type is CARTESIAN_POSITION, then the robot's end effector will move to that position using the inverse kinematics. But if the type of position is CARTESIAN_VELOCITY then the robot will use the values as velocity command.
- Enumerator:
| NOMOVEMENT_POSITION |
Used for initialisation.
|
| CARTESIAN_POSITION |
A cartesian position described by a translation X, Y, Z and an orientation ThetaX, thetaY and ThetaZ.
|
| ANGULAR_POSITION |
An angular position described by a value for each actuator.
|
| CARTESIAN_VELOCITY |
A velocity vector used for velocity control.
|
| ANGULAR_VELOCITY |
Used for initialisation.
|
| ANY_TRAJECTORY |
Not used.
|
| TIME_DELAY |
Position used as a time delay.
|