SMORES Robot Platform Simulation
Modlab at Penn, ASL at Cornell
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Friends
Public Attributes | List of all members
gazebo::SmoresJoint Struct Reference

A struct that has richer features than gazebo joint object. More...

#include <SmoresJoint.hh>

Public Attributes

physics::JointPtr jointPtr
 JointPtr object of the joint.
 
math::Angle jointAngleNow
 The current joint angle of the joint, for PID control.
 
math::Angle jointAngleDesire
 The desired angle for the joint, for PID control.
 
bool needToBeSet
 Whether the angle of the joint needs to be control.
 
double maximiumForce
 Maximium torque of the current joint.
 
double maximiumRotRate
 Maximium rotation rate of the current joint, in rad/s.
 
double jointErrorHis
 Angle difference between current joint and desired joint, for PID control.
 
double jointErrorAccu
 Integration of the joint angle error, for PID control.
 

Detailed Description

A struct that has richer features than gazebo joint object.

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