SensorValues.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Andre Meixner ( andre dot meixner at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <RobotAPI/libraries/armem_robot_state/server/forward_declarations.h>
 
namespace armarx::armem::server::robot_state::proprioception
{
 
    struct JointValues
    {
        double position = 0.0;
        double velocity = 0.0;
        double torque = 0.0;
        //double torqueTicks = 0.0;
    };
 
    struct ForceTorqueValues
    {
        Eigen::Vector3f force = Eigen::Vector3f::Zero();
        Eigen::Vector3f torque = Eigen::Vector3f::Zero();
    };
 
    struct SensorValues
    {
        JointValuesMap jointValueMap;
        ForceTorqueValuesMap forceTorqueValuesMap;
    };
 
} // namespace armarx::armem::server::robot_state::proprioception