The JointState class describes either the state or the command for a set of joints, i.e., its actual or target position, velocity, acceleration and effort. More...

#include <JointState.hpp>

Public Member Functions
void	clear ()

void	resize (uint n)

Public Attributes
Eigen::VectorXd	position

Eigen::VectorXd	velocity

Eigen::VectorXd	acceleration

Detailed Description

The JointState class describes either the state or the command for a set of joints, i.e., its actual or target position, velocity, acceleration and effort.

Member Function Documentation

◆ clear()

void wbc::types::JointState::clear ( )

inline

m/ss (prismatic joint) or rad/ss (revolute joint)

◆ resize()

void wbc::types::JointState::resize ( uint n )

inline

Resize all members to size n and init elements with NaN

Member Data Documentation

◆ acceleration

Eigen::VectorXd wbc::types::JointState::acceleration

m/s (prismatic joint) or rad/s (revolute joint)

◆ position

Eigen::VectorXd wbc::types::JointState::position

◆ velocity

Eigen::VectorXd wbc::types::JointState::velocity

m (prismatic joint) or rad (revolute joint)

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

src/types/JointState.hpp

Public Member Functions

Public Attributes