xpp::RobotStateCartesian Class Reference

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

#include <robot_state_cartesian.h>

List of all members.

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

see also robot_state_joint.h.

Definition at line 47 of file robot_state_cartesian.h.

---

Constructor & Destructor Documentation

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 34 of file robot_state_cartesian.cc.

xpp::RobotStateCartesian::~RobotStateCartesian

(

)

---

Member Data Documentation

State3d xpp::RobotStateCartesian::base_

Definition at line 57 of file robot_state_cartesian.h.

EndeffectorsContact xpp::RobotStateCartesian::ee_contact_

Definition at line 60 of file robot_state_cartesian.h.

Endeffectors<Vector3d> xpp::RobotStateCartesian::ee_forces_

Definition at line 59 of file robot_state_cartesian.h.

EndeffectorsMotion xpp::RobotStateCartesian::ee_motion_

Definition at line 58 of file robot_state_cartesian.h.

double xpp::RobotStateCartesian::t_global_

Definition at line 61 of file robot_state_cartesian.h.

---

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

• robot_state_cartesian.h
• robot_state_cartesian.cc