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
 

Detailed Description

Definition at line 35 of file common.h.

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.

Definition at line 9 of file common.cpp.

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Member Data Documentation

◆ accumulateTime

double accumulateTime = 0.0

Definition at line 42 of file common.h.

◆ deltaT

double deltaT = 0

Definition at line 41 of file common.h.

◆ globalPose

Eigen::Matrix4f globalPose

Definition at line 50 of file common.h.

◆ jointIDTorqueMode

std::vector<size_t> jointIDTorqueMode

Definition at line 47 of file common.h.

◆ jointIDVelocityMode

std::vector<size_t> jointIDVelocityMode

Definition at line 48 of file common.h.

◆ jointPosition

Eigen::VectorXf jointPosition

Definition at line 37 of file common.h.

◆ jointTorque

Eigen::VectorXf jointTorque

Definition at line 39 of file common.h.

◆ jointVelocity

Eigen::VectorXf jointVelocity

Definition at line 38 of file common.h.

◆ nDoF

size_t nDoF = 0

Definition at line 43 of file common.h.

◆ nDoFTorque

size_t nDoFTorque = 0

Definition at line 44 of file common.h.

◆ nDoFVelocity

size_t nDoFVelocity = 0

Definition at line 45 of file common.h.

The documentation for this struct was generated from the following files: