ControlIterationInfo Struct Reference

Public Member Functions
void	init ()
void	update (const RobotState &state, std::chrono::steady_clock::time_point timeDataAcquisition)

Public Attributes
std::optional< RobotState >	currentState
std::chrono::steady_clock::time_point	timeMotionStart
double	secondsFromLastIteration = 0
double	secondsFromMotionStart = 0
int	iteration = 0
std::optional< isom3 >	world_T_effector_commanded
	last output of the Cartesian motion generator (if used in this motion)
std::optional< isom3 >	world_T_effector_desired
	last output of the Cartesian motion generator after filtering (if used in this motion)
std::optional< JointPosition >	q_commanded
	last output of the joint motion generator (if used in this motion)
std::optional< JointPosition >	q_desired
	last output of the joint motion generator after filtering (if used in this motion)
std::optional< JointTorques >	tau_commanded
	last output of the TorqueController (if used in this motion)
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