franka::RobotCommand Struct Reference

Command sent to the robot. More...

#include <log.h>

Collaboration diagram for franka::RobotCommand:

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.

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

• include/franka/log.h