Struct Joint::All

Nested Relationships

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

Struct Documentation

struct All

Outputs of all joints.

Public Members

std::vector<double> positions

Positions in rad for arm joints and m for the gripper joint.

std::vector<double> velocities

Velocities in rad/s for arm joints and m/s for the gripper joint.

std::vector<double> accelerations

Accelerations in rad/s^2 for arm joints and m/s^2 for the gripper joint.

std::vector<double> efforts

Efforts in Nm for arm joints and N for the gripper joint.

std::vector<double> external_efforts

External efforts in Nm for arm joints and N for the gripper joint.

std::vector<double> compensation_efforts

Compensation efforts in Nm for arm joints and N for the gripper joint.

std::vector<double> rotor_temperatures

Rotor temperatures in C.

std::vector<double> driver_temperatures

Driver temperatures in C.