Public Attributes | List of all members
franka::RobotCommand Struct Reference

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}
 $^O{\mathbf{T}_{EE}}_{d}$ sent to the robot. More...
 
CartesianVelocities cartesian_velocities {0, 0, 0, 0, 0, 0}
 $^O\dot{P}_{EE}$ sent to the robot. More...
 
JointPositions joint_positions {0, 0, 0, 0, 0, 0, 0}
 $q_d$ sent to the robot. More...
 
JointVelocities joint_velocities {0, 0, 0, 0, 0, 0, 0}
 $\dot{q}_d$ sent to the robot. More...
 
Torques torques {0, 0, 0, 0, 0, 0, 0}
 ${\tau_J}_d$ sent to the robot. More...
 

Detailed Description

Command sent to the robot.

Structure used only for logging purposes.

Definition at line 20 of file log.h.

Member Data Documentation

◆ cartesian_pose

CartesianPose franka::RobotCommand::cartesian_pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}

$^O{\mathbf{T}_{EE}}_{d}$ sent to the robot.

Definition at line 32 of file log.h.

◆ cartesian_velocities

CartesianVelocities franka::RobotCommand::cartesian_velocities {0, 0, 0, 0, 0, 0}

$^O\dot{P}_{EE}$ sent to the robot.

Definition at line 36 of file log.h.

◆ joint_positions

JointPositions franka::RobotCommand::joint_positions {0, 0, 0, 0, 0, 0, 0}

$q_d$ sent to the robot.

Definition at line 24 of file log.h.

◆ joint_velocities

JointVelocities franka::RobotCommand::joint_velocities {0, 0, 0, 0, 0, 0, 0}

$\dot{q}_d$ sent to the robot.

Definition at line 28 of file log.h.

◆ torques

Torques franka::RobotCommand::torques {0, 0, 0, 0, 0, 0, 0}

${\tau_J}_d$ sent to the robot.

Definition at line 40 of file log.h.

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

libfranka
Author(s): Franka Emika GmbH
autogenerated on Fri Jul 12 2019 03:13:57