Struct MuJoCoActuatorData

• Defined in File data.hpp

Struct Documentation

struct MuJoCoActuatorData

Wrapper for MuJoCo actuators and relevant ROS HW interface data.

Param joint_name:

Name of the MuJoCo joint handled by the actuator.

Param position_interface:

Data for position command/state interface.

Param velocity_interface:

Data for velocity command/state interface.

Param effort_interface:

Data for effort command/state interface.

Param pos_pid:

Pointer to position PID controller if configured.

Param vel_pid:

Pointer to velocity PID controller if configured.

Param actuator_type:

Type of the MuJoCo actuator.

Param mj_joint_type:

MuJoCo joint type as per mjModel->jnt_type.

Param mj_pos_adr:

MuJoCo position address in mjData->qpos.

Param mj_vel_adr:

MuJoCo velocity address in mjData->qvel.

Param mj_actuator_id:

MuJoCo actuator id as per mjModel->actuator_id.

Param is_position_control_enabled:

Boolean flag indicating if position control is enabled.

Param is_position_pid_control_enabled:

Boolean flag indicating if position PID control is enabled.

Param is_velocity_pid_control_enabled:

Boolean flag indicating if velocity PID control is enabled.

Param is_velocity_control_enabled:

Boolean flag indicating if velocity control is enabled.

Param is_effort_control_enabled:

Boolean flag indicating if effort control is enabled.

Param has_pos_pid:

Boolean flag indicating if a position PID controller is configured.

Param has_vel_pid:

Boolean flag indicating if a velocity PID controller is configured.

Public Functions

inline void copy_state_to_transmission()

inline void copy_command_from_transmission()

inline void copy_command_to_state()

Public Members

std::string joint_name = ""

InterfaceData position_interface = {hardware_interface::HW_IF_POSITION}

InterfaceData velocity_interface = {hardware_interface::HW_IF_VELOCITY}

InterfaceData effort_interface = {hardware_interface::HW_IF_EFFORT}

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

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

ActuatorType actuator_type = {ActuatorType::UNKNOWN}

int mj_joint_type = -1

int mj_pos_adr = -1

int mj_vel_adr = -1

int mj_actuator_id = -1

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}