RobotKinData Struct Reference

Structure to hold current robot joint/cartesian space information. More...

#include <types.h>

Public Attributes
Eigen::Vector3d	COG_detached_leg_left
Eigen::Vector3d	COG_detached_leg_right
double	detached_leg_pos_left [3]
double	detached_leg_pos_right [3]
double	detached_leg_rpy_left [3]
double	detached_leg_rpy_right [3]
double	HeadTilt
double	LeftAnkleFlexion
double	LeftAnkleInversion
double	LeftElbowFlexion
double	LeftHipAbduction
double	LeftHipFlexion
double	LeftKneeFlexion
double	LeftShoulderAbduction
double	LeftShoulderFlexion
double	PITCH_arm_end_left
double	PITCH_arm_end_right
double	RightAnkleFlexion
double	RightAnkleInversion
double	RightElbowFlexion
double	RightHipAbduction
double	RightHipFlexion
double	RightKneeFlexion
double	RightShoulderAbduction
double	RightShoulderFlexion
double	ROLL_arm_end_left
double	ROLL_arm_end_right
double	TorsoFlexion
double	TorsoLateralFlexion
double	TorsoRotation
double	X_arm_end_left
double	X_arm_end_right
double	Y_arm_end_left
double	Y_arm_end_right
double	YAW_arm_end_left
double	YAW_arm_end_right
double	Z_arm_end_left
double	Z_arm_end_right

Detailed Description

Structure to hold current robot joint/cartesian space information.

Definition at line 64 of file types.h.

Member Data Documentation

Eigen::Vector3d RobotKinData::COG_detached_leg_left

Definition at line 105 of file types.h.

Eigen::Vector3d RobotKinData::COG_detached_leg_right

Definition at line 106 of file types.h.

double RobotKinData::detached_leg_pos_left[3]

Definition at line 100 of file types.h.

double RobotKinData::detached_leg_pos_right[3]

Definition at line 102 of file types.h.

double RobotKinData::detached_leg_rpy_left[3]

Definition at line 101 of file types.h.

double RobotKinData::detached_leg_rpy_right[3]

Definition at line 103 of file types.h.

double RobotKinData::HeadTilt

Definition at line 66 of file types.h.

double RobotKinData::LeftAnkleFlexion

Definition at line 82 of file types.h.

double RobotKinData::LeftAnkleInversion

Definition at line 81 of file types.h.

double RobotKinData::LeftElbowFlexion

Definition at line 72 of file types.h.

double RobotKinData::LeftHipAbduction

Definition at line 84 of file types.h.

double RobotKinData::LeftHipFlexion

Definition at line 85 of file types.h.

double RobotKinData::LeftKneeFlexion

Definition at line 83 of file types.h.

double RobotKinData::LeftShoulderAbduction

Definition at line 71 of file types.h.

double RobotKinData::LeftShoulderFlexion

Definition at line 70 of file types.h.

double RobotKinData::PITCH_arm_end_left

Definition at line 91 of file types.h.

double RobotKinData::PITCH_arm_end_right

Definition at line 97 of file types.h.

double RobotKinData::RightAnkleFlexion

Definition at line 77 of file types.h.

double RobotKinData::RightAnkleInversion

Definition at line 76 of file types.h.

double RobotKinData::RightElbowFlexion

Definition at line 69 of file types.h.

double RobotKinData::RightHipAbduction

Definition at line 79 of file types.h.

double RobotKinData::RightHipFlexion

Definition at line 80 of file types.h.

double RobotKinData::RightKneeFlexion

Definition at line 78 of file types.h.

double RobotKinData::RightShoulderAbduction

Definition at line 68 of file types.h.

double RobotKinData::RightShoulderFlexion

Definition at line 67 of file types.h.

double RobotKinData::ROLL_arm_end_left

Definition at line 90 of file types.h.

double RobotKinData::ROLL_arm_end_right

Definition at line 96 of file types.h.

double RobotKinData::TorsoFlexion

Definition at line 74 of file types.h.

double RobotKinData::TorsoLateralFlexion

Definition at line 75 of file types.h.

double RobotKinData::TorsoRotation

Definition at line 73 of file types.h.

double RobotKinData::X_arm_end_left

Definition at line 87 of file types.h.

double RobotKinData::X_arm_end_right

Definition at line 93 of file types.h.

double RobotKinData::Y_arm_end_left

Definition at line 88 of file types.h.

double RobotKinData::Y_arm_end_right

Definition at line 94 of file types.h.

double RobotKinData::YAW_arm_end_left

Definition at line 92 of file types.h.

double RobotKinData::YAW_arm_end_right

Definition at line 98 of file types.h.

double RobotKinData::Z_arm_end_left

Definition at line 89 of file types.h.

double RobotKinData::Z_arm_end_right

Definition at line 95 of file types.h.

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The documentation for this struct was generated from the following file:

• types.h