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. More... | |
| ~RobotStateCartesian ()=default | |
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.
| n_ee | Number of endeffectors. |
Definition at line 34 of file robot_state_cartesian.cc.
|
default |
| State3d xpp::RobotStateCartesian::base_ |
Definition at line 57 of file robot_state_cartesian.h.
| EndeffectorsContact xpp::RobotStateCartesian::ee_contact_ |
Definition at line 60 of file robot_state_cartesian.h.
| Endeffectors<Vector3d> xpp::RobotStateCartesian::ee_forces_ |
Definition at line 59 of file robot_state_cartesian.h.
| EndeffectorsMotion xpp::RobotStateCartesian::ee_motion_ |
Definition at line 58 of file robot_state_cartesian.h.
| double xpp::RobotStateCartesian::t_global_ |
Definition at line 61 of file robot_state_cartesian.h.