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.