JointState Struct Reference

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

Represents a joint's rotational state in terms of position and velocity. More...

Detailed Description

Represents a joint's rotational state in terms of position and velocity.

Public Attributes
JointQuantities	positionRad
	the current rotational position in radians
std::optional< JointQuantities >	velocityRadPerSec
	the rotational velocity of the object in radians per second if not specified, it is assumed to be zero or undefined
std::optional< JointQuantities >	torqueNM
	the current motor torque in Newton-meters
std::optional< JointQuantity >	torqueWithoutGravityDesiredNM
	the current desired motor torques, without the term for gravity compensation

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

• RoboticsPlugin/Include/ImFusion/Robotics/RobotState.h