Struct robot_interfaces::SimpleNJointRobotTypes

template<size_t N>
struct SimpleNJointRobotTypes : public robot_interfaces::RobotInterfaceTypes<NJointAction<N>, NJointObservation<N>>, public robot_interfaces::RobotInterfaceTypes<NJointAction<N>, NJointObservation<N>>

Collection of types for a generic N-joint BLMC robot.

Defines all the types needed to set up an interface to a generic N-joint BLMC robot that expects as Action a simple vector of N torque commands and provides N observations containing measured joint angle, velocity and torque.

Template Parameters:

N – Number of joints