Defines a complete robot state in joint space. More...
#include <robot_state_joint.h>
Public Member Functions | |
| RobotStateJoint (int n_ee, int n_joints_per_ee) | |
| Constructs a zero initialized robot state. More... | |
| virtual | ~RobotStateJoint ()=default |
Public Attributes | |
| State3d | base_ |
| EndeffectorsContact | ee_contact_ |
| Joints | q_ |
| Joints | qd_ |
| Joints | qdd_ |
| double | t_global_ |
| Joints | torques_ |
Defines a complete robot state in joint space.
This is the alternative representation to defining the robot by its endeffector state.
see also robot_state_joint.h.
Definition at line 47 of file robot_state_joint.h.
| xpp::RobotStateJoint::RobotStateJoint | ( | int | n_ee, |
| int | n_joints_per_ee | ||
| ) |
Constructs a zero initialized robot state.
| n_ee | Number of endeffectors (hands, feet). |
| n_joints_per_ee | Number of joints for each endeffector. |
Definition at line 34 of file robot_state_joint.cc.
|
virtualdefault |
| State3d xpp::RobotStateJoint::base_ |
Definition at line 57 of file robot_state_joint.h.
| EndeffectorsContact xpp::RobotStateJoint::ee_contact_ |
Definition at line 60 of file robot_state_joint.h.
| Joints xpp::RobotStateJoint::q_ |
Definition at line 58 of file robot_state_joint.h.
| Joints xpp::RobotStateJoint::qd_ |
Definition at line 58 of file robot_state_joint.h.
| Joints xpp::RobotStateJoint::qdd_ |
Definition at line 58 of file robot_state_joint.h.
| double xpp::RobotStateJoint::t_global_ |
Definition at line 61 of file robot_state_joint.h.
| Joints xpp::RobotStateJoint::torques_ |
Definition at line 59 of file robot_state_joint.h.