Struct Joint::Arm

Nested Relationships

This struct is a nested type of Struct RobotOutput::Joint.

Struct Documentation

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.