Command sent to the robot. More...
#include <log.h>
Public Attributes | |
CartesianPose | cartesian_pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1} |
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CartesianVelocities | cartesian_velocities {0, 0, 0, 0, 0, 0} |
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JointPositions | joint_positions {0, 0, 0, 0, 0, 0, 0} |
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JointVelocities | joint_velocities {0, 0, 0, 0, 0, 0, 0} |
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Torques | torques {0, 0, 0, 0, 0, 0, 0} |
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Command sent to the robot.
Structure used only for logging purposes.
CartesianPose franka::RobotCommand::cartesian_pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1} |
CartesianVelocities franka::RobotCommand::cartesian_velocities {0, 0, 0, 0, 0, 0} |
JointPositions franka::RobotCommand::joint_positions {0, 0, 0, 0, 0, 0, 0} |
JointVelocities franka::RobotCommand::joint_velocities {0, 0, 0, 0, 0, 0, 0} |
Torques franka::RobotCommand::torques {0, 0, 0, 0, 0, 0, 0} |