Struct robot_interfaces_bolt::BoltHumanoidObservation

struct BoltHumanoidObservation : public robot_interfaces::Loggable, public robot_interfaces::Loggable

Observation of the BoltHumanoid robot.

This observation class contains all the sensor data provided by the BoltHumanoid robot. The names of the attributes correspond to the names used in bolt::BoltHumanoid of the bolt package (for each attribute X, there is a method get_X()). See there for more information.

Public Functions

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

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

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

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

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

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

Public Members

Vector9d joint_positions

Measured joint positions.

Vector9d joint_velocities

Measured joint velocities.

Vector9d joint_torques

Measured joint torques.

Vector9d joint_target_torques

Target joint torques applied by the controller.

Eigen::Vector4d slider_positions

Positions of the hardware sliders, if connected (range: 0 to 1)

Eigen::Vector3d imu_accelerometer

Measurement of the IMU accelerometer.

Eigen::Vector3d imu_gyroscope

Measurement of the IMU gyroscope.

Eigen::Vector3d imu_linear_acceleration

Linear acceleration measured by the IMU.

Eigen::Vector4d imu_attitude

Attitude measured by the IMU.