jointTrajectoryPoint QML Value Type

Each trajectory point specifies either positions[, velocities[, accelerations]] or positions[, effort] for the trajectory to be executed. More...

Properties

• accelerations : list<double>
• effort : list<double>
• positions : list<double>
• timeFromStart : duration
• velocities : list<double>

Detailed Description

All specified values are in the same order as the joint names in JointTrajectory.msg.

jointTrajectoryPoint is a structured value type usable in QML. It maps directly to the trajectory_msgs::msg::JointTrajectoryPoint ROS 2 message type.

Construct a jointTrajectoryPoint in QML by assigning a JavaScript object whose keys are its component properties, or by setting those properties individually.

See also JointTrajectoryPointPublisher and JointTrajectoryPointSubscriber.

Property Documentation

accelerations : list<double>

Rate of change in velocity of each joint. Units are joint type dependent.

Radians/second^2 for revolute or continuous joints, and meters/second^2 for prismatic joints.

effort : list<double>

The torque or the force to be applied at each joint. For revolute/continuous

joints effort denotes a torque in newton-meters. For prismatic joints, effort denotes a force in newtons.

positions : list<double>

Single DOF joint positions for each joint relative to their "0" position.

The units depend on the specific joint type: radians for revolute or continuous joints, and meters for prismatic joints.

timeFromStart : duration

Desired time from the trajectory start to arrive at this trajectory point.

velocities : list<double>

The rate of change in position of each joint. Units are joint type dependent.

Radians/second for revolute or continuous joints, and meters/second for prismatic joints.