Defines a complete robot state in Cartesian space. More...

#include <robot_state_cartesian.h>

Public Member Functions
	RobotStateCartesian (int n_ee)
	Constructs a zero initialized robot state with n_ee endeffectors. More...

	~RobotStateCartesian ()=default

Public Attributes
State3d	base_

EndeffectorsContact	ee_contact_

Endeffectors< Vector3d >	ee_forces_

EndeffectorsMotion	ee_motion_

double	t_global_

Detailed Description

Defines a complete robot state in Cartesian space.

This is the alternative represenation to defining the robot by it's joint angles. Here each endeffector (foot, hand) is given by a 3D-state and joints angles could be obtained through Inverse Kinematics.

Constructor & Destructor Documentation

◆ RobotStateCartesian()

xpp::RobotStateCartesian::RobotStateCartesian ( int n_ee )

Constructs a zero initialized robot state with n_ee endeffectors.

Parameters

n_ee	Number of endeffectors.

Definition at line 61 of file robot_state_cartesian.cc.

◆ ~RobotStateCartesian()

xpp::RobotStateCartesian::~RobotStateCartesian ( )

default

Member Data Documentation

◆ base_

State3d xpp::RobotStateCartesian::base_

Definition at line 111 of file robot_state_cartesian.h.

◆ ee_contact_

EndeffectorsContact xpp::RobotStateCartesian::ee_contact_

Definition at line 114 of file robot_state_cartesian.h.

◆ ee_forces_

Endeffectors<Vector3d> xpp::RobotStateCartesian::ee_forces_

Definition at line 113 of file robot_state_cartesian.h.

◆ ee_motion_

EndeffectorsMotion xpp::RobotStateCartesian::ee_motion_

Definition at line 112 of file robot_state_cartesian.h.

◆ t_global_

double xpp::RobotStateCartesian::t_global_

Definition at line 115 of file robot_state_cartesian.h.

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

Public Member Functions

Public Attributes