State description of a robot. More...

#include <state.h>

Public Attributes
size_t	n_q
	Number of configuration variables.

size_t	n_tf
	Number of frames.

double *	q
	Position.

double *	dq
	Velocity.

double *	ddq
	Acceleration.

double *	eff
	Efforts.

double *	X
	Position (Quaterion-Vector)

double *	dX
	Velocity (Velocity / Rotation Vector)

double *	ddX
	Acceleration (Acceleration / Rotation Vector)

double *	TF_abs
	Absolute frame transforms.

double *	TF_rel
	Relative frame transforms.

Detailed Description

State description of a robot.

Definition at line 52 of file state.h.

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

Public Attributes