Struct robot_interfaces::NJointObservation

template<size_t N>
struct NJointObservation : public robot_interfaces::Loggable, public robot_interfaces::Loggable

Basic observation for a generic n-joint robot.

Simple observation type with position, velocity and torque for each joint.

Template Parameters:

N – Number of joints.

Public Types

typedef Eigen::Matrix<double, N, 1> Vector

typedef Eigen::Matrix<double, N, 1> Vector

Public Functions

template<class Archive>
inline void serialize(Archive &archive)

inline virtual std::vector<std::string> get_name() override

inline virtual std::vector<std::vector<double>> get_data() override

template<class Archive>
inline void serialize(Archive &archive)

inline virtual std::vector<std::string> get_name() override

inline virtual std::vector<std::vector<double>> get_data() override

Public Members

Vector position = Vector::Zero()

Vector velocity = Vector::Zero()

Vector torque = Vector::Zero()

Public Static Attributes

static constexpr size_t num_joints = N

Number of joints.