41 #include <urdf_model/joint.h> 78 void getLimits(
double &effort_low,
double &effort_high);
105 JointState() : position_(0.0), velocity_(0.0), measured_effort_(0.0),
106 commanded_effort_(0.0), calibrated_(false), reference_position_(0.0){}
double velocity_
The joint velocity in randians/sec or meters/sec (read-only variable)
boost::shared_ptr< const urdf::Joint > joint_
A pointer to the corresponding urdf::Joint from the urdf::Model.
void update(JointState *s)
bool calibrated_
Bool to indicate if the joint has been calibrated or not.
double position_
The joint position in radians or meters (read-only variable)
double commanded_effort_
The effort the joint should apply in Nm or N (write-to variable)
double measured_effort_
The measured joint effort in Nm or N (read-only variable)
double reference_position_
The position of the optical flag that was used to calibrate this joint.
JointStatistics joint_statistics_