Robot control state information. More...

#include <robot.h>

Public Attributes
Eigen::Vector< double, T::kRobotDOF >	current {Eigen::Vector<double, T::kRobotDOF>::Zero()}
	Current joint currents [A].

Eigen::Vector< bool, T::kRobotDOF >	is_ready {Eigen::Vector<bool, T::kRobotDOF>::Constant(false)}
	Whether the joint is ready for control.

Eigen::Vector< double, T::kRobotDOF >	position {Eigen::Vector<double, T::kRobotDOF>::Zero()}
	Current joint positions [rad].

double	t {0.}
	Current time [s].

Eigen::Vector< double, T::kRobotDOF >	torque {Eigen::Vector<double, T::kRobotDOF>::Zero()}
	Current joint torques [Nm].

Eigen::Vector< double, T::kRobotDOF >	velocity {Eigen::Vector<double, T::kRobotDOF>::Zero()}
	Current joint velocities [rad/s].

Detailed Description

template<typename T>
struct rb::ControlState< T >

Robot control state information.

Represents the current state of robot real-time control including position, velocity, and torque.

Template Parameters

T	Robot model type

The documentation for this struct was generated from the following file:

Public Attributes