rb::RobotState< T > Struct Template Reference

Classes
struct	timestamp

Public Attributes
BatteryState	battery_state {}
Eigen::Vector< double, 3 >	center_of_mass
std::vector< dyn::CollisionResult >	collisions
Eigen::Vector< double, T::kRobotDOF >	current {Eigen::Vector<double, T::kRobotDOF>::Zero()}
std::vector< EMOState >	emo_states {}
FTSensorData	ft_sensor_left
FTSensorData	ft_sensor_right
Eigen::Vector< double, T::kRobotDOF >	gravity
Eigen::Vector< bool, T::kRobotDOF >	is_ready {Eigen::Vector<bool, T::kRobotDOF>::Constant(false)}
std::array< JointState, T::kRobotDOF >	joint_states {}
math::SE2::MatrixType	odometry {math::SE2::Identity()}
Eigen::Vector< double, T::kRobotDOF >	position {Eigen::Vector<double, T::kRobotDOF>::Zero()}
std::vector< PowerState >	power_states {}
SystemStat	system_stat {}
Eigen::Vector< uint32_t, T::kRobotDOF >	target_feedback_gain {Eigen::Vector<uint32_t, T::kRobotDOF>::Zero()}
Eigen::Vector< double, T::kRobotDOF >	target_feedforward_torque {Eigen::Vector<double, T::kRobotDOF>::Zero()}
Eigen::Vector< double, T::kRobotDOF >	target_position {Eigen::Vector<double, T::kRobotDOF>::Zero()}
Eigen::Vector< double, T::kRobotDOF >	target_velocity {Eigen::Vector<double, T::kRobotDOF>::Zero()}
Eigen::Vector< int, T::kRobotDOF >	temperature {Eigen::Vector<int, T::kRobotDOF>::Zero()}
ToolFlangeState	tool_flange_left
ToolFlangeState	tool_flange_right
Eigen::Vector< double, T::kRobotDOF >	torque {Eigen::Vector<double, T::kRobotDOF>::Zero()}
Eigen::Vector< double, T::kRobotDOF >	velocity {Eigen::Vector<double, T::kRobotDOF>::Zero()}

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

• /external/rby1-sdk/include/rby1-sdk/robot_state.h