Struct robot_interfaces_solo::_SoloXObservation

template<int X>
struct _SoloXObservation : public robot_interfaces::Loggable, public robot_interfaces::Loggable

Observation of the Solo robot.

This observation class contains all the sensor data provided by the Solo robot. The names of the attributes correspond to the names used in solo::Solo12 of the solo 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

Vector<X> joint_positions

Measured joint positions.

Vector<X> joint_velocities

Measured joint velocities.

Vector<X> joint_torques

Measured joint torques.

Vector<X> joint_target_torques

Target joint torques applied by the controller.

Vector<X> joint_encoder_index

Currently not set!

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.

uint32_t num_sent_command_packets

Total number of command packets sent to the robot.

uint32_t num_lost_command_packets

Number of command packets that were sent to the robot but were lost in transmission.

uint32_t num_sent_sensor_packets

Total number of sensor packets sent from the robot.

uint32_t num_lost_sensor_packets

Number of sensor packets that were sent from the robot but were lost in transmission.