robot_state_cartesian.h

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#ifndef _XPP_STATES_ROBOT_STATE_CARTESIAN_H_
#define _XPP_STATES_ROBOT_STATE_CARTESIAN_H_
 
#include <xpp_states/state.h>
#include <xpp_states/endeffectors.h>
 
namespace xpp {
 
class RobotStateCartesian {
public:
 
  RobotStateCartesian(int n_ee);
  ~RobotStateCartesian() = default;
 
  State3d base_;
  EndeffectorsMotion ee_motion_;
  Endeffectors<Vector3d> ee_forces_;
  EndeffectorsContact ee_contact_;
  double t_global_;
};
 
} /* namespace xpp */
 
#endif /* _XPP_STATES_ROBOT_STATE_CARTESIAN_H_ */