Kinova API Documentation

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.

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