Basic RT components and utilities
315.15.0
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status of the robot More...
import"RobotHardwareService.idl";
Public Attributes | |
DblSequence | angle |
current joint angles[rad] More... | |
DblSequence | command |
reference joint angles[rad] More... | |
DblSequence | torque |
joint torques[Nm] More... | |
LongSequenceSequence | servoState |
servo statuses(32bit+extra states) More... | |
sequence< DblSequence6 > | force |
forces[N] and torques[Nm] More... | |
sequence< DblSequence3 > | rateGyro |
angular velocities[rad/s] More... | |
sequence< DblSequence3 > | accel |
accelerations[m/(s^2)] More... | |
double | voltage |
voltage of power supply[V] More... | |
double | current |
current[A] More... | |
status of the robot
sequence<DblSequence3> OpenHRP::RobotHardwareService::RobotState::accel |
accelerations[m/(s^2)]
DblSequence OpenHRP::RobotHardwareService::RobotState::angle |
current joint angles[rad]
DblSequence OpenHRP::RobotHardwareService::RobotState::command |
reference joint angles[rad]
double OpenHRP::RobotHardwareService::RobotState::current |
current[A]
sequence<DblSequence6> OpenHRP::RobotHardwareService::RobotState::force |
forces[N] and torques[Nm]
sequence<DblSequence3> OpenHRP::RobotHardwareService::RobotState::rateGyro |
angular velocities[rad/s]
LongSequenceSequence OpenHRP::RobotHardwareService::RobotState::servoState |
servo statuses(32bit+extra states)
0: calib status ( 1 => done )
1: servo status ( 1 => on )
2: power status ( 1 => supplied )
3-18: servo alarms (see iob.h)
19-23: unused 24-31: driver temperature (deg)
DblSequence OpenHRP::RobotHardwareService::RobotState::torque |
joint torques[Nm]
double OpenHRP::RobotHardwareService::RobotState::voltage |
voltage of power supply[V]