Struct RobotCommand
Defined in File robot_state_log.hpp
Struct Documentation
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struct RobotCommand
Command sent to the robot. Structure used only for logging purposes.
Public Members
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JointPositions joint_positions = {0, 0, 0, 0, 0, 0, 0}
\(q_d\) sent to the robot.
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JointVelocities joint_velocities = {0, 0, 0, 0, 0, 0, 0}
\(\dot{q}_d\) sent to the robot.
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CartesianPose cartesian_pose = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}
\(^O{\mathbf{T}_{EE}}_{d}\) sent to the robot.
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CartesianVelocities cartesian_velocities = {0, 0, 0, 0, 0, 0}
\(^O\dot{P}_{EE}\) sent to the robot.
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JointPositions joint_positions = {0, 0, 0, 0, 0, 0, 0}