robot_state_cartesian.h

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#ifndef _XPP_STATES_ROBOT_STATE_CARTESIAN_H_
#define _XPP_STATES_ROBOT_STATE_CARTESIAN_H_

#include <xpp_states/state.h>
#include <xpp_states/endeffectors.h>

namespace xpp {

class RobotStateCartesian {
public:

  RobotStateCartesian(int n_ee);
  ~RobotStateCartesian() = default;

  State3d base_;
  EndeffectorsMotion ee_motion_;
  Endeffectors<Vector3d> ee_forces_;
  EndeffectorsContact ee_contact_;
  double t_global_;
};

} /* namespace xpp */

#endif /* _XPP_STATES_ROBOT_STATE_CARTESIAN_H_ */