arl::robot::State::Joint Struct Reference

#include <state.h>

Public Attributes
KDL::JntArray	pos
std::vector< KDL::Frame >	pose
KDL::JntArray	vel
KDL::JntArray	eff
KDL::JntArray	ext_eff
KDL::JntArray	stiff
KDL::JntArray	damp
std::vector< KDL::Jacobian >	jac

Detailed Description

Data in the joint space of the robot

Member Data Documentation

KDL::JntArray arl::robot::State::Joint::damp

Cartesian stiffness of the manipulator

KDL::JntArray arl::robot::State::Joint::eff

Joint efford (i.e. joint torques) in N*m

KDL::JntArray arl::robot::State::Joint::ext_eff

External joint efford (i.e. joint torques) in N*m

std::vector<KDL::Jacobian> arl::robot::State::Joint::jac

The Jacobian metrics for each joint of each kinematic chain

KDL::JntArray arl::robot::State::Joint::pos

Joint position in rads

std::vector<KDL::Frame> arl::robot::State::Joint::pose

Cartesian pose (position/orientation) of each joint wrt the base frame

KDL::JntArray arl::robot::State::Joint::stiff

Cartesian stiffness of the manipulator

KDL::JntArray arl::robot::State::Joint::vel

Joint velocities in rads/sec