Struct robot_interfaces::NFingerObservation¶
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template<size_t N_FINGERS>
struct NFingerObservation : public robot_interfaces::Loggable, public robot_interfaces::Loggable Observation of a Finger robot.
Values like angular position, velocity or torque of the joints are represented as a 1-dimensional vector with one element per joint. The order of the joints in these vectors is as follows:
0. Finger 1, upper joint 1. Finger 1, middle joint 2. Finger 1, lower joint 3. Finger 2, upper joint 4. Finger 2, middle joint 5. Finger 2, lower joint ... #. Finger n, upper joint #. Finger n, middle joint #. Finger n, lower joint
- Template Parameters:
N_FINGERS – Number of fingers.
Public Types
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typedef Eigen::Matrix<double, num_joints, 1> JointVector
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typedef Eigen::Matrix<double, num_fingers, 1> FingerVector
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typedef Eigen::Matrix<double, num_joints, 1> JointVector
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typedef Eigen::Matrix<double, num_fingers, 1> FingerVector
Public Functions
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template<class Archive>
inline void serialize(Archive &archive)
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inline virtual std::vector<std::string> get_name() override
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inline virtual std::vector<std::vector<double>> get_data() override
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template<class Archive>
inline void serialize(Archive &archive)
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inline virtual std::vector<std::string> get_name() override
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inline virtual std::vector<std::vector<double>> get_data() override
Public Members
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JointVector position = JointVector::Zero()
Measured angular position of all joints in radian.
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JointVector velocity = JointVector::Zero()
Measured velocity of all joints in radian/second.
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JointVector torque = JointVector::Zero()
Measured torques of all joints in Nm.
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FingerVector tip_force = FingerVector::Zero()
Measurements of the pressure sensors at the finger tips.
One per finger. Ranges between 0 and 1 without specific unit. Note that not all fingers are equipped with an actual sensor! For fingers without sensor, this value is undefined.