Struct Joint::All
Defined in File trossen_arm_type.hpp
Nested Relationships
This struct is a nested type of Struct RobotOutput::Joint.
Struct Documentation
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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 = {}