Struct Arm::Params

Nested Relationships

This struct is a nested type of Class Arm.

Struct Documentation

struct Params

Public Members

std::vector<std::string> families_
std::vector<std::string> names_
int command_lifetime_ = 100
double control_frequency_ = 200.f
std::string hrdf_file_
std::shared_ptr<robot_model::RobotModel> robot_model_
std::shared_ptr<EndEffectorBase> end_effector_
std::function<double()> get_current_time_s_ = []() {using clock = std::chrono::steady_clock;static const clock::time_point start_time = clock::now();return (std::chrono::duration<double>(clock::now() - start_time)).count();}