Public Member Functions | Public Attributes | List of all members
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

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

Constructs a zero initialized robot state.

Parameters
n_eeNumber of endeffectors (hands, feet).
n_joints_per_eeNumber of joints for each endeffector.

Definition at line 34 of file robot_state_joint.cc.

virtual xpp::RobotStateJoint::~RobotStateJoint ( )
virtualdefault

Member Data Documentation

State3d xpp::RobotStateJoint::base_

Definition at line 57 of file robot_state_joint.h.

EndeffectorsContact xpp::RobotStateJoint::ee_contact_

Definition at line 60 of file robot_state_joint.h.

Joints xpp::RobotStateJoint::q_

Definition at line 58 of file robot_state_joint.h.

Joints xpp::RobotStateJoint::qd_

Definition at line 58 of file robot_state_joint.h.

Joints xpp::RobotStateJoint::qdd_

Definition at line 58 of file robot_state_joint.h.

double xpp::RobotStateJoint::t_global_

Definition at line 61 of file robot_state_joint.h.

Joints xpp::RobotStateJoint::torques_

Definition at line 59 of file robot_state_joint.h.


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


xpp_states
Author(s): Alexander W. Winkler
autogenerated on Tue Dec 8 2020 03:10:29