Robot actions data in joint and Cartesian space for a joint group. More...

#include <data.hpp>

Public Attributes
std::pair< int, int >	timestamp = {}

std::vector< double >	q_d = {}

std::vector< double >	dq_d = {}

std::vector< double >	tau_d = {}

std::array< double, kPoseSize >	tcp_pose_d = {}

std::array< double, kCartDoF >	tcp_twist_d = {}

std::array< double, kCartDoF >	tcp_wrench_d = {}

Detailed Description

Robot actions data in joint and Cartesian space for a joint group.

Definition at line 358 of file data.hpp.

Member Data Documentation

◆ dq_d

std::vector<double> flexiv::rdk::RobotActions::dq_d = {}

Desired joint velocities: \( \dot{q}_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad/s] or [m/s] \).

Definition at line 373 of file data.hpp.

◆ q_d

std::vector<double> flexiv::rdk::RobotActions::q_d = {}

Desired joint positions: \( q_d \in \mathbb{R}^{n \times 1} \). Unit: \( [rad] or [m] \).

Definition at line 367 of file data.hpp.

◆ tau_d

std::vector<double> flexiv::rdk::RobotActions::tau_d = {}

Desired joint torques excluding the compensation of nonlinear dynamics: \( \tau_d \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \).

Note: Nonlinear dynamics include: gravity, centrifugal, and Coriolis. If the robot is static, tau_d will be zeros.; If a joint has no torque control capability, the corresponding value will be 0.

Definition at line 382 of file data.hpp.

◆ tcp_pose_d

std::array<double, kPoseSize> flexiv::rdk::RobotActions::tcp_pose_d = {}

Desired TCP pose w.r.t. 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 389 of file data.hpp.

◆ tcp_twist_d

std::array<double, kCartDoF> flexiv::rdk::RobotActions::tcp_twist_d = {}

Desired TCP twist w.r.t. world frame: \( {^{O}\dot{X}}_d \in \mathbb{R}^{6 \times 1} \). 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 397 of file data.hpp.

◆ tcp_wrench_d

std::array<double, kCartDoF> flexiv::rdk::RobotActions::tcp_wrench_d = {}

Desired TCP wrench w.r.t. the current force control frame: \( {^{ctrl}F_{ext}}_d \in \mathbb{R}^{6 \times 1} \). 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 405 of file data.hpp.

◆ timestamp

std::pair<int, int> flexiv::rdk::RobotActions::timestamp = {}

Current time since epoch of the robot system. The pair consists of {seconds since epoch, nanoseconds since last full second}

Definition at line 362 of file data.hpp.

The documentation for this struct was generated from the following file:

include/flexiv/rdk/data.hpp

Public Attributes