Data structure containing the joint- and Cartesian-space robot states.
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#include <data.hpp>
Data structure containing the joint- and Cartesian-space robot states.
Definition at line 88 of file data.hpp.
◆ dq
std::vector<double> flexiv::rdk::RobotStates::dq = {} |
Measured joint velocities using link-side encoder: \( \dot{q} \in \mathbb{R}^{n \times 1} \). This is the direct but more noisy measurement of joint velocities. Unit: \( [rad/s] \).
Definition at line 110 of file data.hpp.
◆ dtheta
std::vector<double> flexiv::rdk::RobotStates::dtheta = {} |
◆ ext_wrench_in_tcp
std::array<double, kCartDoF> flexiv::rdk::RobotStates::ext_wrench_in_tcp = {} |
Estimated external wrench applied on TCP and expressed in TCP frame: \( ^{TCP}F_{ext} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]~[Nm] \).
Definition at line 186 of file data.hpp.
◆ ext_wrench_in_world
std::array<double, kCartDoF> flexiv::rdk::RobotStates::ext_wrench_in_world = {} |
◆ flange_pose
std::array<double, kPoseSize> flexiv::rdk::RobotStates::flange_pose = {} |
Measured flange pose expressed in world frame: \( ^{O}T_{flange} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]~[] \).
Definition at line 170 of file data.hpp.
◆ ft_sensor_raw
std::array<double, kCartDoF> flexiv::rdk::RobotStates::ft_sensor_raw = {} |
Force-torque (FT) sensor raw reading in flange frame: \( ^{flange}F_{raw} \in \mathbb{R}^{6 \times 1} \). The value is 0 if no FT sensor is installed. Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]~[Nm] \).
Definition at line 178 of file data.hpp.
std::vector<double> flexiv::rdk::RobotStates::q = {} |
◆ tau
std::vector<double> flexiv::rdk::RobotStates::tau = {} |
Measured joint torques: \( \tau \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \).
Definition at line 122 of file data.hpp.
◆ tau_des
std::vector<double> flexiv::rdk::RobotStates::tau_des = {} |
Desired joint torques: \( \tau_{d} \in \mathbb{R}^{n \times 1} \). Compensation of nonlinear dynamics (gravity, centrifugal, and Coriolis) is excluded. Unit: \( [Nm] \).
Definition at line 128 of file data.hpp.
◆ tau_dot
std::vector<double> flexiv::rdk::RobotStates::tau_dot = {} |
Numerical derivative of measured joint torques: \( \dot{\tau} \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm/s] \).
Definition at line 134 of file data.hpp.
◆ tau_ext
std::vector<double> flexiv::rdk::RobotStates::tau_ext = {} |
◆ tcp_pose
std::array<double, kPoseSize> flexiv::rdk::RobotStates::tcp_pose = {} |
◆ tcp_pose_des
std::array<double, kPoseSize> flexiv::rdk::RobotStates::tcp_pose_des = {} |
Desired TCP pose expressed in world frame: \( {^{O}T_{TCP}}_{d} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]~[] \).
Definition at line 155 of file data.hpp.
◆ tcp_vel
std::array<double, kCartDoF> flexiv::rdk::RobotStates::tcp_vel = {} |
Measured TCP velocity expressed in world frame: \( ^{O}\dot{X} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) linear velocity and \( \mathbb{R}^{3 \times 1} \) angular velocity: \( [v_x, v_y, v_z, \omega_x, \omega_y, \omega_z]^T \). Unit: \( [m/s]~[rad/s] \).
Definition at line 163 of file data.hpp.
◆ theta
std::vector<double> flexiv::rdk::RobotStates::theta = {} |
Measured joint positions using motor-side encoder: \( \theta \in \mathbb{R}^{n \times 1} \). This is the indirect measurement of joint positions. \( \theta = q + \Delta \), where \( \Delta \) is the joint's internal deflection between motor and link. Unit: \( [rad] \).
Definition at line 103 of file data.hpp.
The documentation for this struct was generated from the following file: