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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>lebai-motion-control: Data Structures</title>
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<div id="projectname">lebai-motion-control
 <span id="projectnumber">3.1.6</span>
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<div id="projectbrief">lebai motion control C interface</div>
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<div class="textblock">Here are the data structures with brief descriptions:</div><div class="directory">
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<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__all__joint__poses.html" target="_self">lmc_all_joint_poses</a></td><td class="desc">Data structure to store all joint positions </td></tr>
<tr id="row_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__all__sampled__joint__state.html" target="_self">lmc_all_sampled_joint_state</a></td><td class="desc">All sample joint state data </td></tr>
<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__controller__cartesian__admittance__config.html" target="_self">lmc_controller_cartesian_admittance_config</a></td><td class="desc">Cartesian admiitance controler config data struct </td></tr>
<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__euler__zyx.html" target="_self">lmc_euler_zyx</a></td><td class="desc">Euler zyx representation of rotation </td></tr>
<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__euler__zyz.html" target="_self">lmc_euler_zyz</a></td><td class="desc">Euler zyx representation of rotation </td></tr>
<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__joint__cmd.html" target="_self">lmc_joint_cmd</a></td><td class="desc">Joint command data </td></tr>
<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__joint__state.html" target="_self">lmc_joint_state</a></td><td class="desc">Joint state data </td></tr>
<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__link__config.html" target="_self">lmc_link_config</a></td><td class="desc">Overall parameter for a single link, </td></tr>
<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__link__dh__config.html" target="_self">lmc_link_dh_config</a></td><td class="desc">DH parameter for a link </td></tr>
<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__link__dyn__config.html" target="_self">lmc_link_dyn_config</a></td><td class="desc">Dynamic parameter for a link </td></tr>
<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__quaternion.html" target="_self">lmc_quaternion</a></td><td class="desc">Quaternion representation of rotation </td></tr>
<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__robot__model__config.html" target="_self">lmc_robot_model_config</a></td><td class="desc">Overall parameters for a robot model </td></tr>
<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__rpy.html" target="_self">lmc_rpy</a></td><td class="desc">RPY representation of rotation </td></tr>
<tr id="row_13_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__config.html" target="_self">lmc_tg_config</a></td><td class="desc">Configuration data structure for trajectory generator </td></tr>
<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__limit.html" target="_self">lmc_tg_limit</a></td><td class="desc">Limitation data structure for trajectory generator </td></tr>
<tr id="row_15_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__move__param.html" target="_self">lmc_tg_move_param</a></td><td class="desc">Trjecotry generator move parameter </td></tr>
<tr id="row_16_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__runtime__data.html" target="_self">lmc_tg_runtime_data</a></td><td class="desc">Trjecotry generator runtime data </td></tr>
<tr id="row_17_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__speed__param.html" target="_self">lmc_tg_speed_param</a></td><td class="desc">Trjecotry generator speed parameter </td></tr>
<tr id="row_18_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__toward__param.html" target="_self">lmc_tg_toward_param</a></td><td class="desc">Trjecotry generator toward parameter </td></tr>
<tr id="row_19_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tg__update__ret.html" target="_self">lmc_tg_update_ret</a></td><td class="desc">Trjecotry generator update ret value </td></tr>
<tr id="row_20_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__tool__payload.html" target="_self">lmc_tool_payload</a></td><td class="desc">Tool payload data </td></tr>
<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__transform.html" target="_self">lmc_transform</a></td><td class="desc">Transform representation </td></tr>
<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__translation.html" target="_self">lmc_translation</a></td><td class="desc">Cartesian translation coordinate </td></tr>
<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__twist.html" target="_self">lmc_twist</a></td><td class="desc">Transform velocity representation </td></tr>
<tr id="row_24_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="structlmc__wrench.html" target="_self">lmc_wrench</a></td><td class="desc">Transform force representation </td></tr>
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