movex::RobotState< DoFs, has_elbow, has_force_sensor > Struct Template Reference

The overall state of the robot. More...

#include <robot_state.hpp>

Public Attributes
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

Detailed Description

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>
struct movex::RobotState< DoFs, has_elbow, has_force_sensor >

The overall state of the robot.

Member Data Documentation

dq

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, DoFs> movex::RobotState< DoFs, has_elbow, has_force_sensor >::dq

elbow

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 2> movex::RobotState< DoFs, has_elbow, has_force_sensor >::elbow

elbow_c

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 2> movex::RobotState< DoFs, has_elbow, has_force_sensor >::elbow_c

elbow_d

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 2> movex::RobotState< DoFs, has_elbow, has_force_sensor >::elbow_d

O_dP_EE_c

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 6> movex::RobotState< DoFs, has_elbow, has_force_sensor >::O_dP_EE_c

O_F_ext_hat_K

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 6> movex::RobotState< DoFs, has_elbow, has_force_sensor >::O_F_ext_hat_K

O_T_EE

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 16> movex::RobotState< DoFs, has_elbow, has_force_sensor >::O_T_EE

O_T_EE_c

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, 16> movex::RobotState< DoFs, has_elbow, has_force_sensor >::O_T_EE_c

q

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, DoFs> movex::RobotState< DoFs, has_elbow, has_force_sensor >::q

q_d

template<size_t DoFs, bool has_elbow = true, bool has_force_sensor = true>

std::array<double, DoFs> movex::RobotState< DoFs, has_elbow, has_force_sensor >::q_d

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

• /home/runner/work/frankx/frankx/include/movex/robot/robot_state.hpp