State of a joint. More...

#include <RobotAPI/components/units/KinematicUnitSimulation.h>

Public Member Functions
void	init ()

	KinematicUnitSimulationJointState ()

Public Attributes
float	angle

ControlMode	controlMode

float	temperature

float	torque

float	velocity

float	velocityActual

Detailed Description

State of a joint.

Includes the control mode, the joint angle, velocity, torque, and motor temperature. Controlmode defaults to ePositionControl, all other values default to zero.

Definition at line 49 of file KinematicUnitSimulation.h.

Constructor & Destructor Documentation

◆ KinematicUnitSimulationJointState()

KinematicUnitSimulationJointState ( )

inline

Definition at line 52 of file KinematicUnitSimulation.h.

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Member Function Documentation

◆ init()

void init ( )

inline

Definition at line 58 of file KinematicUnitSimulation.h.

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Member Data Documentation

◆ angle

float angle

Definition at line 69 of file KinematicUnitSimulation.h.

◆ controlMode

ControlMode controlMode

Definition at line 68 of file KinematicUnitSimulation.h.

◆ temperature

float temperature

Definition at line 73 of file KinematicUnitSimulation.h.

◆ torque

float torque

Definition at line 72 of file KinematicUnitSimulation.h.

◆ velocity

float velocity

Definition at line 70 of file KinematicUnitSimulation.h.

◆ velocityActual

float velocityActual

Definition at line 71 of file KinematicUnitSimulation.h.

The documentation for this class was generated from the following file:

RobotAPI/components/units/KinematicUnitSimulation.h

Public Member Functions

Public Attributes