27 template<
typename GetT>
59 msg_.
q.resize(robot.
mb().nrParams());
60 rbd::paramToVector(robot.
mbc().q, msg_.
q);
61 msg_.
alpha = rbd::dofToVector(robot.
mb(), robot.
mbc().alpha);
62 msg_.
alphaD = rbd::dofToVector(robot.
mb(), robot.
mbc().alphaD);
63 msg_.
tau = rbd::dofToVector(robot.
mb(), robot.
mbc().jointTorque);
70 template<
typename GetT>
71 auto RobotMsg(
const std::string & name, GetT get_fn)
Definition: Observer.h:16
auto RobotMsg(const std::string &name, GetT get_fn)
Definition: RobotMsg.h:71
const std::vector< std::string > & parameters() const
Definition: RobotModule.h:511
rbd::MultiBodyConfig & mbc()
const RobotModule & module() const
const sva::PTransformd & posW() const
Definition: MessagePackBuilder.h:87
Definition: elements.h:59
const std::string & name() const
Definition: elements.h:61
void write(mc_rtc::MessagePackBuilder &)
Definition: elements.h:83
static constexpr size_t write_size()
Definition: elements.h:76
Eigen::VectorXd alphaD
Definition: types.h:498
Eigen::VectorXd tau
Definition: types.h:499
Eigen::VectorXd q
Definition: types.h:496
Eigen::VectorXd alpha
Definition: types.h:497
Definition: RobotMsg.h:29
static constexpr size_t write_size()
Definition: RobotMsg.h:37
RobotMsgImpl(const std::string &name, GetT get_fn)
Definition: RobotMsg.h:32
void write(mc_rtc::MessagePackBuilder &builder)
Definition: RobotMsg.h:39
static constexpr auto type
Definition: RobotMsg.h:30