#include <RoboticsPlugin/Include/ImFusion/Robotics/RobotState.h>

Represents joint-related values (position, velocity, acceleration, torque, etc.) and their corresponding states (measured, desired, or commanded) and provides access to each of these values through member variables. More...

Detailed Description

Represents joint-related values (position, velocity, acceleration, torque, etc.) and their corresponding states (measured, desired, or commanded) and provides access to each of these values through member variables.

Public Member Functions
const JointQuantity &	commandedOrDesiredOrMeasured () const
	Access the commanded joint quantity if available, if not; access the desired ones, it they are not available; access the measured ones.

const JointQuantity &	desiredOrMeasured () const
	Access the desired joint quantity if provided; otherwise, return the measured joint positions.

Public Attributes
JointQuantity	measured
	Measured joint positions.

std::optional< JointQuantity >	desired
	Desired joint positions.

std::optional< JointQuantity >	commanded
	Commanded joint positions.

Member Function Documentation

◆ commandedOrDesiredOrMeasured()

const JointQuantity & commandedOrDesiredOrMeasured ( ) const

Access the commanded joint quantity if available, if not; access the desired ones, it they are not available; access the measured ones.

This is a common pattern to compute compatible commands for different robot firmwares.

◆ desiredOrMeasured()

const JointQuantity & desiredOrMeasured ( ) const

Access the desired joint quantity if provided; otherwise, return the measured joint positions.

This pattern is commonly used to compute compatible commands for different robot firmwares.

Member Data Documentation

◆ measured

JointQuantity measured

Measured joint positions.

Each value corresponds to a specific joint, with the angles measured in radians.

◆ desired

std::optional<JointQuantity> desired

Desired joint positions.

If not specified, the robot firmware typically uses the measured joint positions. They may deviate from the commanded ones to satisfy constraints or to incorporate additional information available to the firmware.

◆ commanded

std::optional<JointQuantity> commanded

Commanded joint positions.

If not provided, the robot firmware typically uses the measured joint positions instead.

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

RoboticsPlugin/Include/ImFusion/Robotics/RobotState.h