robot_state_joint.h
Go to the documentation of this file.
1 /******************************************************************************
2 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
3 
4 Redistribution and use in source and binary forms, with or without
5 modification, are permitted provided that the following conditions are met:
6 
7 * Redistributions of source code must retain the above copyright notice, this
8  list of conditions and the following disclaimer.
9 
10 * Redistributions in binary form must reproduce the above copyright notice,
11  this list of conditions and the following disclaimer in the documentation
12  and/or other materials provided with the distribution.
13 
14 * Neither the name of the copyright holder nor the names of its
15  contributors may be used to endorse or promote products derived from
16  this software without specific prior written permission.
17 
18 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
20 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
21 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
22 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
23 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
24 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
25 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
26 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
28 ******************************************************************************/
29 
30 #ifndef XPP_STATES_ROBOT_STATE_JOINT_H_
31 #define XPP_STATES_ROBOT_STATE_JOINT_H_
32 
33 #include <xpp_states/state.h>
35 #include <xpp_states/joints.h>
36 
37 namespace xpp {
38 
47 class RobotStateJoint {
48 public:
54  RobotStateJoint (int n_ee, int n_joints_per_ee);
55  virtual ~RobotStateJoint () = default;
56 
57  State3d base_;
58  Joints q_, qd_, qdd_;
59  Joints torques_;
60  EndeffectorsContact ee_contact_;
61  double t_global_;
62 };
63 
64 } /* namespace xpp */
65 
66 #endif /* XPP_STATES_ROBOT_STATE_JOINT_H_ */
xpp::RobotStateJoint::ee_contact_
EndeffectorsContact ee_contact_
Definition: robot_state_joint.h:114
xpp::RobotStateJoint::~RobotStateJoint
virtual ~RobotStateJoint()=default
xpp::RobotStateJoint::base_
State3d base_
Definition: robot_state_joint.h:111
joints.h
xpp::RobotStateJoint::torques_
Joints torques_
Definition: robot_state_joint.h:113
xpp
Definition: cartesian_declarations.h:41
xpp::RobotStateJoint::q_
Joints q_
Definition: robot_state_joint.h:112
xpp::RobotStateJoint::qd_
Joints qd_
Definition: robot_state_joint.h:112
xpp::RobotStateJoint::t_global_
double t_global_
Definition: robot_state_joint.h:115
xpp::RobotStateJoint::qdd_
Joints qdd_
Definition: robot_state_joint.h:112
xpp::RobotStateJoint::RobotStateJoint
RobotStateJoint(int n_ee, int n_joints_per_ee)
Constructs a zero initialized robot state.
Definition: robot_state_joint.cc:61
state.h
endeffectors.h


xpp_states
Author(s): Alexander W. Winkler
autogenerated on Wed Mar 2 2022 01:14:14