Struct RobotOutput::Joint
Defined in File trossen_arm_type.hpp
Nested Relationships
This struct is a nested type of Struct RobotOutput.
Nested Types
Struct Documentation
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struct Joint
Outputs in joint space.
Public Members
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struct trossen_arm::RobotOutput::Joint::All all
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struct trossen_arm::RobotOutput::Joint::Arm arm
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struct trossen_arm::RobotOutput::Joint::Gripper gripper
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struct All
Outputs of all joints.
Public Members
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std::vector<double> positions = {}
Positions in rad for arm joints and m for the gripper joint.
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std::vector<double> velocities = {}
Velocities in rad/s for arm joints and m/s for the gripper joint.
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std::vector<double> accelerations = {}
Accelerations in rad/s^2 for arm joints and m/s^2 for the gripper joint.
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std::vector<double> efforts = {}
Efforts in Nm for arm joints and N for the gripper joint.
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std::vector<double> external_efforts = {}
External efforts in Nm for arm joints and N for the gripper joint.
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std::vector<double> compensation_efforts = {}
Compensation efforts in Nm for arm joints and N for the gripper joint.
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std::vector<double> rotor_temperatures = {}
Rotor temperatures in C.
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std::vector<double> driver_temperatures = {}
Driver temperatures in C.
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std::vector<double> positions = {}
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struct Arm
Outputs of the arm joints.
Public Members
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std::vector<double> positions = {}
Positions in rad.
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std::vector<double> velocities = {}
Velocities in rad/s.
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std::vector<double> accelerations = {}
Accelerations in rad/s^2.
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std::vector<double> efforts = {}
Efforts in Nm.
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std::vector<double> external_efforts = {}
External efforts in Nm.
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std::vector<double> compensation_efforts = {}
Compensation efforts in Nm.
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std::vector<double> rotor_temperatures = {}
Rotor temperatures in C.
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std::vector<double> driver_temperatures = {}
Driver temperatures in C.
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std::vector<double> positions = {}
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struct Gripper
Outputs of the gripper joint.
Public Members
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double position = {0.0}
Position in m.
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double velocity = {0.0}
Velocity in m/s.
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double acceleration = {0.0}
Acceleration in m/s^2.
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double effort = {0.0}
Effort in N.
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double external_effort = {0.0}
External effort in N.
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double compensation_effort = {0.0}
Compensation effort in N.
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double rotor_temperature = {0.0}
Rotor temperature in C.
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double driver_temperature = {0.0}
Driver temperature in C.
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double position = {0.0}
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struct trossen_arm::RobotOutput::Joint::All all