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void | init () |
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void | update (const RobotState &state, std::chrono::steady_clock::time_point timeDataAcquisition) |
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std::optional< RobotState > | currentState |
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std::chrono::steady_clock::time_point | timeMotionStart |
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double | secondsFromLastIteration = 0 |
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double | secondsFromMotionStart = 0 |
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int | iteration = 0 |
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std::optional< isom3 > | world_T_effector_commanded |
| | last output of the Cartesian motion generator (if used in this motion)
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std::optional< isom3 > | world_T_effector_desired |
| | last output of the Cartesian motion generator after filtering (if used in this motion)
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std::optional< JointPosition > | q_commanded |
| | last output of the joint motion generator (if used in this motion)
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std::optional< JointPosition > | q_desired |
| | last output of the joint motion generator after filtering (if used in this motion)
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std::optional< JointTorques > | tau_commanded |
| | last output of the TorqueController (if used in this motion)
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std::optional< JointTorques > | tau_desired |
| | last output of the TorqueController after filtering (if used in this motion)
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The documentation for this struct was generated from the following file:
- RoboticsPlugin/Include/ImFusion/Robotics/Control/RobotControl.h
