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amino
1.0-beta2
Lightweight Robot Utility Library
|
|
amino
1.0-beta2
Lightweight Robot Utility Library
|
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. | |