Basic RT components and utilities  315.15.0
Public Attributes | List of all members
OpenHRP::RobotHardwareService::RobotState Struct Reference

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< DblSequence6force
 forces[N] and torques[Nm] More...
 
sequence< DblSequence3rateGyro
 angular velocities[rad/s] More...
 
sequence< DblSequence3accel
 accelerations[m/(s^2)] More...
 
double voltage
 voltage of power supply[V] More...
 
double current
 current[A] More...
 

Detailed Description

status of the robot

Member Data Documentation

◆ accel

sequence<DblSequence3> OpenHRP::RobotHardwareService::RobotState::accel

accelerations[m/(s^2)]

◆ angle

DblSequence OpenHRP::RobotHardwareService::RobotState::angle

current joint angles[rad]

◆ command

DblSequence OpenHRP::RobotHardwareService::RobotState::command

reference joint angles[rad]

◆ current

double OpenHRP::RobotHardwareService::RobotState::current

current[A]

◆ force

sequence<DblSequence6> OpenHRP::RobotHardwareService::RobotState::force

forces[N] and torques[Nm]

◆ rateGyro

sequence<DblSequence3> OpenHRP::RobotHardwareService::RobotState::rateGyro

angular velocities[rad/s]

◆ servoState

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)

◆ torque

DblSequence OpenHRP::RobotHardwareService::RobotState::torque

joint torques[Nm]

◆ voltage

double OpenHRP::RobotHardwareService::RobotState::voltage

voltage of power supply[V]


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