shadowrobot::JointData Struct Reference

#include <sr_articulated_robot.h>

Public Member Functions
	JointData ()
	JointData (JointData &jd)
	JointData (const JointData &jd)

Public Attributes
double	current
std::string	flags
double	force
int16_t	isJointZero
int	jointIndex
double	last_pos
ros::Time	last_pos_time
double	max
double	min
double	position
int	publisher_index
double	target
double	temperature
double	velocity

Detailed Description

This struct contains all the information regarding each joints.

Definition at line 81 of file sr_articulated_robot.h.

Constructor & Destructor Documentation

shadowrobot::JointData::JointData ( )

inline

Definition at line 105 of file sr_articulated_robot.h.

shadowrobot::JointData::JointData ( JointData &  jd )

inline

Definition at line 111 of file sr_articulated_robot.h.

shadowrobot::JointData::JointData ( const JointData &  jd )

inline

Definition at line 119 of file sr_articulated_robot.h.

Member Data Documentation

double shadowrobot::JointData::current

Definition at line 86 of file sr_articulated_robot.h.

std::string shadowrobot::JointData::flags

Definition at line 88 of file sr_articulated_robot.h.

double shadowrobot::JointData::force

Definition at line 87 of file sr_articulated_robot.h.

int16_t shadowrobot::JointData::isJointZero

Definition at line 92 of file sr_articulated_robot.h.

int shadowrobot::JointData::jointIndex

Definition at line 89 of file sr_articulated_robot.h.

double shadowrobot::JointData::last_pos

Definition at line 102 of file sr_articulated_robot.h.

ros::Time shadowrobot::JointData::last_pos_time

Definition at line 101 of file sr_articulated_robot.h.

double shadowrobot::JointData::max

Definition at line 91 of file sr_articulated_robot.h.

double shadowrobot::JointData::min

Definition at line 90 of file sr_articulated_robot.h.

double shadowrobot::JointData::position

Definition at line 83 of file sr_articulated_robot.h.

int shadowrobot::JointData::publisher_index

GAZEBO and the etherCAT wrapper have one publisher / subscriber per joint. We store those in the JointData struct to be able to get and send data to the Gazebo model and the EherCAT hand with our standard ROS interface.

Definition at line 100 of file sr_articulated_robot.h.

double shadowrobot::JointData::target

Definition at line 84 of file sr_articulated_robot.h.

double shadowrobot::JointData::temperature

Definition at line 85 of file sr_articulated_robot.h.

double shadowrobot::JointData::velocity

Definition at line 103 of file sr_articulated_robot.h.

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The documentation for this struct was generated from the following file:

• sr_articulated_robot.h