robot_state.hpp

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#pragma once
 
 
namespace movex {
 
template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>
struct RobotState {
    std::array<double, DoFs> q;
    std::array<double, DoFs> q_d;
    std::array<double, DoFs> dq;
 
    std::array<double, 16> O_T_EE;
    std::array<double, 16> O_T_EE_c;
    std::array<double, 6> O_dP_EE_c;
 
    std::array<double, 2> elbow;
    std::array<double, 2> elbow_c;
    std::array<double, 2> elbow_d;
 
    std::array<double, 6> O_F_ext_hat_K;
};
 
} // namespace movex