Struct JointTrajectory

• Defined in File types.hpp

Struct Documentation

struct JointTrajectory

Contains a trajectory of joint configurations.

Public Members

std::vector<std::string> joint_names

The list of joint names.

std::vector<double> times

The list of times.

std::vector<Eigen::VectorXd> positions

The list of joint positions.

std::vector<Eigen::VectorXd> velocities

The list of joint velocities.

std::vector<Eigen::VectorXd> accelerations

The list of joint accelerations.

Friends

friend std::ostream &operator<<(std::ostream &os, const JointTrajectory &traj)

Prints basic information about the trajectory.