Struct MobileJointPositions
Defined in File mobile_model.h
Struct Documentation
-
struct MobileJointPositions
Joint positions for all controllable subsystems of a mobile robot.
All arrays are default-initialized to zero (neutral configuration).
Public Members
-
std::array<double, kNumDriveModules * kJointsPerDriveModule> drive_modules = {}
Drive module joint positions: {front_steering, front_drive, rear_steering, rear_drive}.
-
std::array<double, kNumDriveModules * kJointsPerDriveModule> drive_modules = {}