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< 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...

Detailed Description

status of the robot

Member Data Documentation

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]

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

• RobotHardwareService.idl