Struct Joint::Arm
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 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 = {}