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amino
1.0-beta2
Lightweight Robot Utility Library
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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. | |