Struct RobotOutput::Joint

Nested Relationships

This struct is a nested type of Struct RobotOutput.

Nested Types

Struct Documentation

struct Joint

Outputs in joint space.

Public Members

struct trossen_arm::RobotOutput::Joint::All all
struct trossen_arm::RobotOutput::Joint::Arm arm
struct trossen_arm::RobotOutput::Joint::Gripper gripper
struct All

Outputs of all joints.

Public Members

std::vector<double> positions = {}

Positions in rad for arm joints and m for the gripper joint.

std::vector<double> velocities = {}

Velocities in rad/s for arm joints and m/s for the gripper joint.

std::vector<double> accelerations = {}

Accelerations in rad/s^2 for arm joints and m/s^2 for the gripper joint.

std::vector<double> efforts = {}

Efforts in Nm for arm joints and N for the gripper joint.

std::vector<double> external_efforts = {}

External efforts in Nm for arm joints and N for the gripper joint.

std::vector<double> compensation_efforts = {}

Compensation efforts in Nm for arm joints and N for the gripper joint.

std::vector<double> rotor_temperatures = {}

Rotor temperatures in C.

std::vector<double> driver_temperatures = {}

Driver temperatures in C.

struct Arm

Outputs of the arm joints.

Public Members

std::vector<double> positions = {}

Positions in rad.

std::vector<double> velocities = {}

Velocities in rad/s.

std::vector<double> accelerations = {}

Accelerations in rad/s^2.

std::vector<double> efforts = {}

Efforts in Nm.

std::vector<double> external_efforts = {}

External efforts in Nm.

std::vector<double> compensation_efforts = {}

Compensation efforts in Nm.

std::vector<double> rotor_temperatures = {}

Rotor temperatures in C.

std::vector<double> driver_temperatures = {}

Driver temperatures in C.

struct Gripper

Outputs of the gripper joint.

Public Members

double position = {0.0}

Position in m.

double velocity = {0.0}

Velocity in m/s.

double acceleration = {0.0}

Acceleration in m/s^2.

double effort = {0.0}

Effort in N.

double external_effort = {0.0}

External effort in N.

double compensation_effort = {0.0}

Compensation effort in N.

double rotor_temperature = {0.0}

Rotor temperature in C.

double driver_temperature = {0.0}

Driver temperature in C.