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POSITION_ADDTO

This structure defines the position addition operation data used to apply an offset to a given pose or coordinate. It specifies both the reference pose and the offset values to be added in each axis (joint or Cartesian space).

BYTE#

Field Name

Data Type

Value

Remarks

0

_fTargetPos

float[NUMBER_OF_JOINT]

Base position (original pose before applying offset)

24

_fTargetVal

float[NUMBER_OF_JOINT]

Offset values to be added (ΔX, ΔY, ΔZ, ΔRx, ΔRy, ΔRz)

Total size: 48 bytes

Defined in: DRFS.h

typedef struct _POSITION_ADDTO
{
    /* Base target pose */
    float _fTargetPos[NUMBER_OF_JOINT];

    /* Offset values to add (ΔX, ΔY, ΔZ, ΔRx, ΔRy, ΔRz) */
    float _fTargetVal[NUMBER_OF_JOINT];

} POSITION_ADDTO, *LPPOSITION_ADDTO;