robot_state_joint.h

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#ifndef XPP_STATES_ROBOT_STATE_JOINT_H_
#define XPP_STATES_ROBOT_STATE_JOINT_H_
 
#include <xpp_states/state.h>
#include <xpp_states/endeffectors.h>
#include <xpp_states/joints.h>
 
namespace xpp {
 
class RobotStateJoint {
public:
  RobotStateJoint (int n_ee, int n_joints_per_ee);
  virtual ~RobotStateJoint () = default;
 
  State3d base_;
  Joints q_, qd_, qdd_;
  Joints torques_;
  EndeffectorsContact ee_contact_;
  double t_global_;
};
 
} /* namespace xpp */
 
#endif /* XPP_STATES_ROBOT_STATE_JOINT_H_ */