Package rst.robot

Not documented

Messages

• JointStateCollection
• JointState
• ForceApplication

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Message JointStateCollection

class rst.robot.JointStateCollection

Collection of JointState instances.

Auto-generated.

element

Type:array of rst.robot.JointState

The individual elements of the collection.

Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific.

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message JointStateCollection {

    /**
     * The individual elements of the collection.
     *
     * Constraints regarding the empty collection, sorting, duplicated
     * entries etc. are use case specific.
     */
    repeated JointState element = 1;

}

Message JointState

class rst.robot.JointState

Contains the feedback of multiple robotic joints.

Code author: Dennis Leroy <Wigand> <dwigand@cor-lab.uni-bielefeld.de>

@create_collection

angles

Type:rst.kinematics.JointAngles

Joint angles

velocities

Type:rst.kinematics.JointVelocities

Joint velocities

torques

Type:rst.dynamics.JointTorques

Joint torques

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message JointState {

    /**
     * Joint angles
     */
    required kinematics.JointAngles angles = 1;

    /**
     * Joint velocities
     */
    required kinematics.JointVelocities velocities = 2;

    /**
     * Joint torques
     */
    required dynamics.JointTorques torques = 3;

}

Message ForceApplication

class rst.robot.ForceApplication

A force vector applied to a kinematic link at a particular position.

Code author: Jan Moringen <jmoringe@techfak.uni-bielefeld.de>

link

Type:ASCII-STRING

The name of the link in the kinematic chain to which the force should be applied.

force

Type:rst.dynamics.Forces

The force vector that should be applied to the link.

Expressed in world coordinates.

application_point

Type:rst.geometry.Translation

The point in world coordinates at which force should be applied.

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message ForceApplication {

    /**
     * The name of the link in the kinematic chain to which the force
     * should be applied.
     */
    required string link = 1;

    /**
     * The force vector that should be applied to the link.
     *
     * Expressed in world coordinates.
     */
    required .rst.dynamics.Forces force = 2;

    /**
     * The point in world coordinates at which @ref .force should be
     * applied.
     */
    required .rst.geometry.Translation application_point = 3;

}