ORCA: Optimization-based framework for Robotic Control Applications
Public Attributes | List of all members
orca::common::TaskState::Current Struct Reference

#include <TaskState.h>

Public Attributes

Eigen::VectorXd joint_position
 
Eigen::VectorXd joint_velocity
 
Eigen::VectorXd control_frame_position
 
Eigen::VectorXd control_frame_velocity
 
Eigen::VectorXd wrench_value
 
Eigen::MatrixXd wrench_jacobian
 

Member Data Documentation

Eigen::VectorXd orca::common::TaskState::Current::control_frame_position
Eigen::VectorXd orca::common::TaskState::Current::control_frame_velocity
Eigen::VectorXd orca::common::TaskState::Current::joint_position
Eigen::VectorXd orca::common::TaskState::Current::joint_velocity
Eigen::MatrixXd orca::common::TaskState::Current::wrench_jacobian
Eigen::VectorXd orca::common::TaskState::Current::wrench_value

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