robot_state_joint.h
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00001 /******************************************************************************
00002 Copyright (c) 2017, Alexander W. Winkler. All rights reserved.
00003 
00004 Redistribution and use in source and binary forms, with or without
00005 modification, are permitted provided that the following conditions are met:
00006 
00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
00009 
00010 * Redistributions in binary form must reproduce the above copyright notice,
00011   this list of conditions and the following disclaimer in the documentation
00012   and/or other materials provided with the distribution.
00013 
00014 * Neither the name of the copyright holder nor the names of its
00015   contributors may be used to endorse or promote products derived from
00016   this software without specific prior written permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00020 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00022 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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00029 
00030 #ifndef XPP_STATES_ROBOT_STATE_JOINT_H_
00031 #define XPP_STATES_ROBOT_STATE_JOINT_H_
00032 
00033 #include <xpp_states/state.h>
00034 #include <xpp_states/endeffectors.h>
00035 #include <xpp_states/joints.h>
00036 
00037 namespace xpp {
00038 
00047 class RobotStateJoint {
00048 public:
00054   RobotStateJoint (int n_ee, int n_joints_per_ee);
00055   virtual ~RobotStateJoint () = default;
00056 
00057   State3d base_;
00058   Joints q_, qd_, qdd_;
00059   Joints torques_;
00060   EndeffectorsContact ee_contact_;
00061   double t_global_;
00062 };
00063 
00064 } /* namespace xpp */
00065 
00066 #endif /* XPP_STATES_ROBOT_STATE_JOINT_H_ */


xpp_states
Author(s): Alexander W. Winkler
autogenerated on Fri Apr 5 2019 02:55:50