arl::robot::State::Task Struct Reference

#include <state.h>

Public Attributes
KDL::Frame	pose
KDL::Twist	vel
KDL::Wrench	eff
KDL::Wrench	ext_eff
KDL::Stiffness	stiff
KDL::Stiffness	damp
KDL::Jacobian	jac

Detailed Description

Data in the task (cartesian) space of the robot

Member Data Documentation

KDL::Stiffness arl::robot::State::Task::damp

Cartesian damping of the manipulator

KDL::Wrench arl::robot::State::Task::eff

Cartesian forces and torques (wrench) on the tool frame

KDL::Wrench arl::robot::State::Task::ext_eff

External forces and torques (wrench) on the tool frame

KDL::Jacobian arl::robot::State::Task::jac

The Jacobian metrics for each kinematic chain

KDL::Frame arl::robot::State::Task::pose

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

KDL::Stiffness arl::robot::State::Task::stiff

Cartesian stiffness of the manipulator

KDL::Twist arl::robot::State::Task::vel

Cartesian and rotational velocity (twist) of tool frame wrt the base frame