Package rst.dynamics¶
Not documented
Messages¶
clearer: should be made invisible via css
Message MotorCurrentsCollection¶
-
class
rst.dynamics.
MotorCurrentsCollection
¶ Collection of
MotorCurrents
instances.Auto-generated.
-
element
¶ Type: array of rst.dynamics.MotorCurrents
The individual elements of the collection.
Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.
-
message MotorCurrentsCollection {
/**
* The individual elements of the collection.
*
* Constraints regarding the empty collection, sorting, duplicated
* entries etc. are use case specific.
*/
repeated MotorCurrents element = 1;
}
Message MotorCurrents¶
-
class
rst.dynamics.
MotorCurrents
¶ Represents measurements of motor currents for a robot’s joints.
Code author: Michael Wojtynek <mwojtynek@cor-lab.uni-bielefeld.de>
@create_collection
-
currents
¶ Type: array of FLOAT32
Unit: ampere
motor currents of the robot’s drives
-
message MotorCurrents {
/**
* motor currents of the robot's drives
*/
// @unit(ampere)
repeated float currents = 1 [packed=true];
}
Message JointTorques¶
-
class
rst.dynamics.
JointTorques
¶ A sequence of joint torques of multiple joints.
Code author: Arne Nordmann <anordman@cor-lab.uni-bielefeld.de>
@create_collection
-
torques
¶ Type: array of FLOAT32
Unit: newton-meter
List of torques with one value per joint. Order is important and represents the joints of the described system.
-
message JointTorques {
/**
* List of torques with one value per joint. Order is important and
* represents the joints of the described system.
*/
// @unit(newton-meter)
repeated float torques = 1 [packed=true];
}