Struct JointConfiguration

• Defined in File types.hpp

Struct Documentation

struct JointConfiguration

Represents a robot joint configuration.

Creating and validating these structures are handled by separate utility functions.

Public Members

std::vector<std::string> joint_names

The names of the joints.

Eigen::VectorXd positions

The joint positions, in the same order as the names.

Eigen::VectorXd velocities

The joint velocities, in the same order as the names.

Eigen::VectorXd accelerations

The joint accelerations, in the same order as the names.