#include <mc_rbdyn/RobotData.h>
Public Attributes | |
| std::vector< std::string > | refJointOrder |
| std::vector< double > | encoderValues |
| std::vector< double > | encoderVelocities |
| std::vector< double > | jointTorques |
| std::vector< ForceSensor > | forceSensors |
| std::unordered_map< std::string, size_t > | forceSensorsIndex |
| std::unordered_map< std::string, size_t > | bodyForceSensors_ |
| BodySensorVector | bodySensors |
| std::unordered_map< std::string, size_t > | bodySensorsIndex |
| std::unordered_map< std::string, size_t > | bodyBodySensors |
| std::vector< JointSensor > | jointSensors |
| std::unordered_map< std::string, size_t > | jointJointSensors |
| std::unordered_map< std::string, mc_control::GripperPtr > | grippers |
| std::vector< mc_control::GripperRef > | grippersRef |
| DevicePtrVector | devices |
| std::unordered_map< std::string, size_t > | devicesIndex |
| std::vector< Robot * > | robots |
Detailed Description
Hold data and objects that are shared among different views of a robot (control/real/output)
The framework enforce consistency between these views
This includes:
- reference joint order
- encoder level readings (position/velocity/torques)
- force/body/joint sensors
- grippers
- devices
Member Data Documentation
◆ bodyBodySensors
| std::unordered_map<std::string, size_t> mc_rbdyn::RobotData::bodyBodySensors |
Correspondance between bodies' names and attached body sensors
◆ bodyForceSensors_
| std::unordered_map<std::string, size_t> mc_rbdyn::RobotData::bodyForceSensors_ |
Correspondance between bodies' names and attached force sensors
◆ bodySensors
| BodySensorVector mc_rbdyn::RobotData::bodySensors |
Hold all body sensors
◆ bodySensorsIndex
| std::unordered_map<std::string, size_t> mc_rbdyn::RobotData::bodySensorsIndex |
Correspondance between body sensor's name and body sensor index
◆ devices
| DevicePtrVector mc_rbdyn::RobotData::devices |
Hold all devices that are neither force sensors nor body sensors
◆ devicesIndex
| std::unordered_map<std::string, size_t> mc_rbdyn::RobotData::devicesIndex |
Correspondance between a device's name and a device index
◆ encoderValues
| std::vector<double> mc_rbdyn::RobotData::encoderValues |
Encoders' positions provided in the robot's ref joint order
◆ encoderVelocities
| std::vector<double> mc_rbdyn::RobotData::encoderVelocities |
Encoders' velocities provided in the robot's ref joint order
◆ forceSensors
| std::vector<ForceSensor> mc_rbdyn::RobotData::forceSensors |
◆ forceSensorsIndex
| std::unordered_map<std::string, size_t> mc_rbdyn::RobotData::forceSensorsIndex |
Correspondance between force sensor's name and force sensor index
◆ grippers
| std::unordered_map<std::string, mc_control::GripperPtr> mc_rbdyn::RobotData::grippers |
Grippers attached to this robot (empty until the robot is loaded into a controller)
◆ grippersRef
| std::vector<mc_control::GripperRef> mc_rbdyn::RobotData::grippersRef |
Grippers reference for this robot
◆ jointJointSensors
| std::unordered_map<std::string, size_t> mc_rbdyn::RobotData::jointJointSensors |
Correspondance between joints' names and attached joint sensors
◆ jointSensors
| std::vector<JointSensor> mc_rbdyn::RobotData::jointSensors |
Hold all joint sensors
◆ jointTorques
| std::vector<double> mc_rbdyn::RobotData::jointTorques |
Joint torques provided by the low-level controller
◆ refJointOrder
| std::vector<std::string> mc_rbdyn::RobotData::refJointOrder |
Reference joint order see mc_rbdyn::RobotModule
◆ robots
| std::vector<Robot *> mc_rbdyn::RobotData::robots |
A list of robots that share this data
This is used to communicate changes to the data to all instances that share this data
The documentation for this struct was generated from the following file:
- include/mc_rbdyn/RobotData.h
