libfranka  0.8.0 FCI C++ API
franka::RobotCommand Struct Reference

Command sent to the robot. More...

#include <log.h>

Collaboration diagram for franka::RobotCommand:
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## Public Attributes

JointPositions joint_positions {0, 0, 0, 0, 0, 0, 0}
$$q_d$$ sent to the robot.

JointVelocities joint_velocities {0, 0, 0, 0, 0, 0, 0}
$$\dot{q}_d$$ sent to the robot.

CartesianPose cartesian_pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}
$$^O{\mathbf{T}_{EE}}_{d}$$ sent to the robot.

CartesianVelocities cartesian_velocities {0, 0, 0, 0, 0, 0}
$$^O\dot{P}_{EE}$$ sent to the robot.

Torques torques {0, 0, 0, 0, 0, 0, 0}
$${\tau_J}_d$$ sent to the robot.

## Detailed Description

Command sent to the robot.

Structure used only for logging purposes.

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