scl::SRobotSensors Struct Reference

#include <SRobotIO.hpp>

Collaboration diagram for scl::SRobotSensors:

Public Attributes
Eigen::VectorXd	q_
Eigen::VectorXd	dq_
Eigen::VectorXd	ddq_
Eigen::VectorXd	force_gc_measured_
sutil::CMappedList < std::string, SForce >	forces_external_

Detailed Description

Contains generic robot sensor information. These are read from the sensors and/or simulation.

Member Data Documentation

Eigen::VectorXd scl::SRobotSensors::ddq_

The sensed generalized accelerations (Eg. joint accelerations)

Eigen::VectorXd scl::SRobotSensors::dq_

The sensed generalized velocities (Eg. joint velocities)

Eigen::VectorXd scl::SRobotSensors::force_gc_measured_

The sensed generalized forces (Eg. joint torques)

sutil::CMappedList<std::string, SForce> scl::SRobotSensors::forces_external_

The external forces applied on the robot. The code expects these to be numerous O(n^k), k>1. These may also appear/disappear frequently: Eg. a) A contact force coming from within the dynamics engine. b) Perturbation forces from wherever.

NOTE : These may change frequently, so it might be a good idea to check for the existence of a particular contact regularly (if you care about it). The standard case will iterate over all in an arbitrary order.

Eigen::VectorXd scl::SRobotSensors::q_

The sensed generalized coordinates (Eg. joint angles)

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

• /home/samir/Code/control/scl.git/src/scl/data_structs/SRobotIO.hpp