Struct JointStateConverterMap

Defined in File type_conversions.hpp

Nested Relationships

Nested Types

Struct JointStateConverterMap::JointMapping

Struct Documentation

struct JointStateConverterMap

Pre-computed mapping for ROS JointState to RoboPlan type conversions.

JointState messages may be in different orders, will not contain mimic states, and have different representation of continuous types. This structure maintains a mapping from ROS JointStates to RoboPlan JointConfigurations to enable efficient conversion from one type to the other.

Public Members

std::vector<JointMapping> mappings: Index of JointState joints in the Scene.

size_t nq: Number of position states in the Scene.

size_t nv: Numbef of velocity states in the Scene.

struct JointMapping

Mapping for an individual joint.

Public Members

std::string joint_name: the String name of the joint.

size_t ros_index: Index in the ROS JointState type.

size_t q_start: The start index in the positions vector.

size_t v_start: The start index in velocities vector.

roboplan::JointType type: The RoboPlan type of the Joint.