List of all members | Public Member Functions | Public Attributes
RobotStatus Struct Reference

#include <armarx/control/common/control_law/common.h>

+ Inheritance diagram for RobotStatus:

Public Member Functions

virtual void reset (size_t nJoints, const std::vector< size_t > &jointIDTorqueCtrlMode, const std::vector< size_t > &jointIDVelocityCtrlMode)
 
virtual ~RobotStatus ()=default
 

Public Attributes

double accumulateTime = 0.0
 
double deltaT = 0
 
Eigen::Matrix4f globalPose
 
std::vector< size_t > jointIDTorqueMode
 
std::vector< size_t > jointIDVelocityMode
 
Eigen::VectorXf jointPosition
 
Eigen::VectorXf jointTorque
 
Eigen::VectorXf jointVelocity
 
size_t nDoF = 0
 
size_t nDoFTorque = 0
 
size_t nDoFVelocity = 0
 

Constructor & Destructor Documentation

◆ ~RobotStatus()

virtual ~RobotStatus ( )
virtualdefault

Member Function Documentation

◆ reset()

void reset ( size_t nJoints,
const std::vector< size_t > & jointIDTorqueCtrlMode,
const std::vector< size_t > & jointIDVelocityCtrlMode )
virtual

Reimplemented in TSCtrlRtStatus.

Member Data Documentation

◆ accumulateTime

double accumulateTime = 0.0

◆ deltaT

double deltaT = 0

◆ globalPose

Eigen::Matrix4f globalPose

◆ jointIDTorqueMode

std::vector<size_t> jointIDTorqueMode

◆ jointIDVelocityMode

std::vector<size_t> jointIDVelocityMode

◆ jointPosition

Eigen::VectorXf jointPosition

◆ jointTorque

Eigen::VectorXf jointTorque

◆ jointVelocity

Eigen::VectorXf jointVelocity

◆ nDoF

size_t nDoF = 0

◆ nDoFTorque

size_t nDoFTorque = 0

◆ nDoFVelocity

size_t nDoFVelocity = 0
The documentation for this struct was generated from the following files: