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 3Dstate 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.