Mujoco KDL Wrapper  0.5.1
MuJoCo + KDL bridge for robot kinematics and dynamics
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mj_kdl::RobotPorts Struct Reference
Data Types

#include <mj_kdl_wrapper.hpp>

Inheritance diagram for mj_kdl::RobotPorts:
mj_kdl::Robot

Public Attributes

CtrlMode ctrl_mode = CtrlMode::POSITION
std::vector< double > jnt_pos_msr
std::vector< double > jnt_vel_msr
std::vector< double > jnt_trq_msr
std::vector< double > jnt_pos_cmd
std::vector< double > jnt_vel_cmd
std::vector< double > jnt_trq_cmd
std::vector< uint8_t > jnt_saturated

Detailed Description

A robot's control ports. Sized once by init_robot_*(); reset() rewrites their values in place, so a pointer to an element stays valid until the robot is re-initialised or destroyed.

Definition at line 388 of file mj_kdl_wrapper.hpp.

Member Data Documentation

◆ ctrl_mode

CtrlMode mj_kdl::RobotPorts::ctrl_mode = CtrlMode::POSITION

Definition at line 390 of file mj_kdl_wrapper.hpp.

Referenced by TEST_F().

◆ jnt_pos_cmd

std::vector<double> mj_kdl::RobotPorts::jnt_pos_cmd

Definition at line 394 of file mj_kdl_wrapper.hpp.

Referenced by main(), and main().

◆ jnt_pos_msr

std::vector<double> mj_kdl::RobotPorts::jnt_pos_msr

Definition at line 391 of file mj_kdl_wrapper.hpp.

Referenced by main(), mj_kdl_examples::max_abs_joint_err(), mj_kdl_examples::read_q(), mj_kdl_examples::read_q(), TEST(), TEST(), TEST_F(), and TEST_F().

◆ jnt_saturated

std::vector<uint8_t> mj_kdl::RobotPorts::jnt_saturated

Definition at line 397 of file mj_kdl_wrapper.hpp.

◆ jnt_trq_cmd

std::vector<double> mj_kdl::RobotPorts::jnt_trq_cmd

Definition at line 396 of file mj_kdl_wrapper.hpp.

Referenced by AchdController::control(), main(), mj_kdl_examples::pd_gravity(), mj_kdl_examples::prime_gravity(), and TEST().

◆ jnt_trq_msr

std::vector<double> mj_kdl::RobotPorts::jnt_trq_msr

Definition at line 393 of file mj_kdl_wrapper.hpp.

◆ jnt_vel_cmd

std::vector<double> mj_kdl::RobotPorts::jnt_vel_cmd

Definition at line 395 of file mj_kdl_wrapper.hpp.

Referenced by main(), TEST(), and TEST_P().

◆ jnt_vel_msr

std::vector<double> mj_kdl::RobotPorts::jnt_vel_msr

Definition at line 392 of file mj_kdl_wrapper.hpp.

Referenced by mj_kdl_examples::pd_gravity(), mj_kdl_examples::read_q(), TEST(), and TEST_P().

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