Data structure containing the joint- and Cartesian-space robot states. More...

#include <data.hpp>

Public Attributes
std::vector< double >	q = {}

std::vector< double >	theta = {}

std::vector< double >	dq = {}

std::vector< double >	dtheta = {}

std::vector< double >	tau = {}

std::vector< double >	tau_des = {}

std::vector< double >	tau_dot = {}

std::vector< double >	tau_ext = {}

std::array< double, kPoseSize >	tcp_pose = {}

std::array< double, kPoseSize >	tcp_pose_des = {}

std::array< double, kCartDoF >	tcp_vel = {}

std::array< double, kPoseSize >	flange_pose = {}

std::array< double, kCartDoF >	ft_sensor_raw = {}

std::array< double, kCartDoF >	ext_wrench_in_tcp = {}

std::array< double, kCartDoF >	ext_wrench_in_world = {}

Detailed Description

Data structure containing the joint- and Cartesian-space robot states.

Definition at line 88 of file data.hpp.

Member Data Documentation

◆ dq

std::vector<double> flexiv::rdk::RobotStates::dq = {}

Measured joint velocities using link-side encoder: \( \dot{q} \in \mathbb{R}^{n \times 1} \). This is the direct but more noisy measurement of joint velocities. Unit: \( [rad/s] \).

Definition at line 110 of file data.hpp.

◆ dtheta

std::vector<double> flexiv::rdk::RobotStates::dtheta = {}

Measured joint velocities using motor-side encoder: \( \dot{\theta} \in \mathbb{R}^{n \times 1} \). This is the indirect but less noisy measurement of joint velocities, preferred for most cases. Unit: \( [rad/s] \).

Examples: intermediate3_realtime_joint_torque_control.cpp, and intermediate4_realtime_joint_floating.cpp.

Definition at line 117 of file data.hpp.

◆ ext_wrench_in_tcp

std::array<double, kCartDoF> flexiv::rdk::RobotStates::ext_wrench_in_tcp = {}

Estimated external wrench applied on TCP and expressed in TCP frame: \( ^{TCP}F_{ext} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]~[Nm] \).

Definition at line 186 of file data.hpp.

◆ ext_wrench_in_world

std::array<double, kCartDoF> flexiv::rdk::RobotStates::ext_wrench_in_world = {}

Estimated external wrench applied on TCP and expressed in world frame: \( ^{0}F_{ext} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]~[Nm] \).

Examples: intermediate5_realtime_cartesian_pure_motion_control.cpp, and intermediate6_realtime_cartesian_motion_force_control.cpp.

Definition at line 194 of file data.hpp.

◆ flange_pose

std::array<double, kPoseSize> flexiv::rdk::RobotStates::flange_pose = {}

Measured flange pose expressed in world frame: \( ^{O}T_{flange} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]~[] \).

Definition at line 170 of file data.hpp.

◆ ft_sensor_raw

std::array<double, kCartDoF> flexiv::rdk::RobotStates::ft_sensor_raw = {}

Force-torque (FT) sensor raw reading in flange frame: \( ^{flange}F_{raw} \in \mathbb{R}^{6 \times 1} \). The value is 0 if no FT sensor is installed. Consists of \( \mathbb{R}^{3 \times 1} \) force and \( \mathbb{R}^{3 \times 1} \) moment: \( [f_x, f_y, f_z, m_x, m_y, m_z]^T \). Unit: \( [N]~[Nm] \).

Definition at line 178 of file data.hpp.

◆ q

std::vector<double> flexiv::rdk::RobotStates::q = {}

Measured joint positions using link-side encoder: \( q \in \mathbb{R}^{n \times 1} \). This is the direct measurement of joint positions, preferred for most cases. Unit: \( [rad] \).

Examples: intermediate1_realtime_joint_position_control.cpp, intermediate2_realtime_joint_impedance_control.cpp, and intermediate3_realtime_joint_torque_control.cpp.

Definition at line 95 of file data.hpp.

◆ tau

std::vector<double> flexiv::rdk::RobotStates::tau = {}

Measured joint torques: \( \tau \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm] \).

Definition at line 122 of file data.hpp.

◆ tau_des

std::vector<double> flexiv::rdk::RobotStates::tau_des = {}

Desired joint torques: \( \tau_{d} \in \mathbb{R}^{n \times 1} \). Compensation of nonlinear dynamics (gravity, centrifugal, and Coriolis) is excluded. Unit: \( [Nm] \).

Definition at line 128 of file data.hpp.

◆ tau_dot

std::vector<double> flexiv::rdk::RobotStates::tau_dot = {}

Numerical derivative of measured joint torques: \( \dot{\tau} \in \mathbb{R}^{n \times 1} \). Unit: \( [Nm/s] \).

Definition at line 134 of file data.hpp.

◆ tau_ext

std::vector<double> flexiv::rdk::RobotStates::tau_ext = {}

Estimated external joint torques: \( \hat \tau_{ext} \in \mathbb{R}^{n \times 1} \). Produced by any external contact (with robot body or end-effector) that does not belong to the known robot model. Unit: \( [Nm] \).

Examples: intermediate5_realtime_cartesian_pure_motion_control.cpp.

Definition at line 141 of file data.hpp.

◆ tcp_pose

std::array<double, kPoseSize> flexiv::rdk::RobotStates::tcp_pose = {}

Measured TCP pose expressed in world frame: \( ^{O}T_{TCP} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]~[] \).

Examples: intermediate5_realtime_cartesian_pure_motion_control.cpp, and intermediate6_realtime_cartesian_motion_force_control.cpp.

Definition at line 148 of file data.hpp.

◆ tcp_pose_des

std::array<double, kPoseSize> flexiv::rdk::RobotStates::tcp_pose_des = {}

Desired TCP pose expressed in world frame: \( {^{O}T_{TCP}}_{d} \in \mathbb{R}^{7 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) position and \( \mathbb{R}^{4 \times 1} \) quaternion: \( [x, y, z, q_w, q_x, q_y, q_z]^T \). Unit: \( [m]~[] \).

Definition at line 155 of file data.hpp.

◆ tcp_vel

std::array<double, kCartDoF> flexiv::rdk::RobotStates::tcp_vel = {}

Measured TCP velocity expressed in world frame: \( ^{O}\dot{X} \in \mathbb{R}^{6 \times 1} \). Consists of \( \mathbb{R}^{3 \times 1} \) linear velocity and \( \mathbb{R}^{3 \times 1} \) angular velocity: \( [v_x, v_y, v_z, \omega_x, \omega_y, \omega_z]^T \). Unit: \( [m/s]~[rad/s] \).

Definition at line 163 of file data.hpp.

◆ theta

std::vector<double> flexiv::rdk::RobotStates::theta = {}

Measured joint positions using motor-side encoder: \( \theta \in \mathbb{R}^{n \times 1} \). This is the indirect measurement of joint positions. \( \theta = q + \Delta \), where \( \Delta \) is the joint's internal deflection between motor and link. Unit: \( [rad] \).

Definition at line 103 of file data.hpp.

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

include/flexiv/rdk/data.hpp

Public Attributes