Struct JointState

• Defined in File data.hpp

Struct Documentation

struct JointState

Wrapper for mujoco actuators and relevant ROS HW interface data.

Public Members

std::string name

double position

double velocity

double effort

std::shared_ptr<control_toolbox::PidROS> pos_pid = {nullptr}

std::shared_ptr<control_toolbox::PidROS> vel_pid = {nullptr}

ActuatorType actuator_type = {ActuatorType::UNKNOWN}

double position_command

double velocity_command

double effort_command

bool is_mimic = {false}

int mimicked_joint_index

double mimic_multiplier

int mj_joint_type

int mj_pos_adr

int mj_vel_adr

int mj_actuator_id

bool is_position_control_enabled = {false}

bool is_position_pid_control_enabled = {false}

bool is_velocity_pid_control_enabled = {false}

bool is_velocity_control_enabled = {false}

bool is_effort_control_enabled = {false}

bool has_pos_pid = {false}

bool has_vel_pid = {false}