Struct RobotCommand

Struct Documentation

struct RobotCommand

Command sent to the robot. Structure used only for logging purposes.

Public Members

JointPositions joint_positions = {0, 0, 0, 0, 0, 0, 0}

qd sent to the robot.

JointVelocities joint_velocities = {0, 0, 0, 0, 0, 0, 0}

q˙d sent to the robot.

CartesianPose cartesian_pose = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}

OTEEd sent to the robot.

CartesianVelocities cartesian_velocities = {0, 0, 0, 0, 0, 0}

OP˙EE sent to the robot.

Torques torques = {0, 0, 0, 0, 0, 0, 0}

τJd sent to the robot.