franky::JointState Class Reference

Joint state of a robot. More...

#include <joint_state.hpp>

Public Member Functions
	JointState (Vector7d position)
	Construct a joint state with the given joint positions and zero velocities.
	JointState (Vector7d position, Vector7d velocity)
	JointState (const JointState &)=default
	JointState ()=default
Vector7d	position () const
	The position component of the state.
Vector7d	velocity () const
	The velocity component of the state.

Friends
std::ostream &	operator<< (std::ostream &os, const JointState &joint_state)

Detailed Description

Joint state of a robot.

This class encapsulates the joint state of a robot, which comprises the joint positions and the joint velocities.

Constructor & Destructor Documentation

JointState() [1/4]

franky::JointState::JointState ( Vector7d  position )

inline

Construct a joint state with the given joint positions and zero velocities.

Parameters

position

The joint positions.

JointState() [2/4]

franky::JointState::JointState ( Vector7d  position, Vector7d  velocity  )

inline

Parameters

position	The joint positions.
velocity	The joint velocities.

JointState() [3/4]

franky::JointState::JointState ( const JointState &  )

default

JointState() [4/4]

franky::JointState::JointState ( )

default

Member Function Documentation

position()

Vector7d franky::JointState::position ( ) const

inline

The position component of the state.

velocity()

Vector7d franky::JointState::velocity ( ) const

inline

The velocity component of the state.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const JointState &  joint_state  )

friend

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

• /home/runner/work/franky/franky/include/franky/joint_state.hpp