xpp::RobotStateCartesian Class Reference

Defines a complete robot state in Cartesian space. More...

`#include <robot_state_cartesian.h>`

## Public Member Functions | |

RobotStateCartesian (int n_ee) | |

Constructs a zero initialized robot state with n_ee endeffectors. | |

~RobotStateCartesian () | |

## Public Attributes | |

State3d | base_ |

EndeffectorsContact | ee_contact_ |

Endeffectors< Vector3d > | ee_forces_ |

EndeffectorsMotion | ee_motion_ |

double | t_global_ |

Defines a complete robot state in Cartesian space.

This is the alternative represenation to defining the robot by it's joint angles. Here each endeffector (foot, hand) is given by a 3D-state and joints angles could be obtained through Inverse Kinematics.

see also robot_state_joint.h.

Definition at line 47 of file robot_state_cartesian.h.

xpp::RobotStateCartesian::RobotStateCartesian | ( | int | n_ee | ) |

Constructs a zero initialized robot state with n_ee endeffectors.

**Parameters:**-
n_ee Number of endeffectors.

Definition at line 34 of file robot_state_cartesian.cc.

Definition at line 57 of file robot_state_cartesian.h.

Definition at line 60 of file robot_state_cartesian.h.

Definition at line 59 of file robot_state_cartesian.h.

Definition at line 58 of file robot_state_cartesian.h.

Definition at line 61 of file robot_state_cartesian.h.

The documentation for this class was generated from the following files: