xpp::RobotStateJoint Class Reference

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_

Detailed Description

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.

Constructor & Destructor Documentation

RobotStateJoint()

xpp::RobotStateJoint::RobotStateJoint	(	int	n_ee,
		int	n_joints_per_ee
	)

Constructs a zero initialized robot state.

Parameters

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.

~RobotStateJoint()

virtual xpp::RobotStateJoint::~RobotStateJoint ( )

virtualdefault

Member Data Documentation

base_

State3d xpp::RobotStateJoint::base_

Definition at line 57 of file robot_state_joint.h.

ee_contact_

EndeffectorsContact xpp::RobotStateJoint::ee_contact_

Definition at line 60 of file robot_state_joint.h.

q_

Joints xpp::RobotStateJoint::q_

Definition at line 58 of file robot_state_joint.h.

qd_

Joints xpp::RobotStateJoint::qd_

Definition at line 58 of file robot_state_joint.h.

qdd_

Joints xpp::RobotStateJoint::qdd_

Definition at line 58 of file robot_state_joint.h.

t_global_

double xpp::RobotStateJoint::t_global_

Definition at line 61 of file robot_state_joint.h.

torques_

Joints xpp::RobotStateJoint::torques_

Definition at line 59 of file robot_state_joint.h.

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The documentation for this class was generated from the following files:

• robot_state_joint.h
• robot_state_joint.cc