Struct RobotOutput::Cartesian

Nested Relationships

This struct is a nested type of Struct RobotOutput.

Struct Documentation

struct Cartesian

Outputs in Cartesian space.

Public Members

std::array<double, 6> positions

Spatial position of the end effector frame measured in the base frame in m and rad.

Note

The first 3 elements are the translation and the last 3 elements are the angle-axis representation of the rotation

std::array<double, 6> velocities

Spatial velocity of the end effector frame with respect to the base frame measured in the base frame in m/s and rad/s.

Note

The first 3 elements are the linear velocity and the last 3 elements are the angular velocity

std::array<double, 6> accelerations

Spatial acceleration of the end effector frame with respect to the base frame measured in the base frame in m/s^2 and rad/s^2.

Note

The first 3 elements are the linear acceleration and the last 3 elements are the angular acceleration

std::array<double, 6> external_efforts

Spatial external efforts applied to the end effector frame measured in the base frame in N and Nm.

Note

The first 3 elements are the force and the last 3 elements are the torque

Note

All external efforts are assumed to be applied at the end effector frame