struct State

Declaration

struct State { /* full declaration omitted */ };

Description

Robot state, sent by `uri interface` on {name}/state every robot cycle. Joint vectors follow the RobotModule's reference joint order.

Declared at: robot_comm/include/robot_comm/serialization/Messages.h:65

Member Variables

public std::vector<double> position

Joint positions [rad].

public std::vector<double> velocity

Joint velocities [rad/s]. May be empty.

public std::vector<double> torque

Joint torques [Nm].

public std::vector<BodySensorData> bodySensors

IMU readings.

public std::vector<ForceSensorData> forceSensors

Force/torque sensor readings.

public uint64_t stamp = 0

Sender's steady clock [ns] when this state was sent, echoed back in Command::stateStamp to measure the round trip. 0 = not set.