The Robot Application Programming Interface Delegate Project

JointSample Interface Reference

JointSample delivers joint data at a high frequency. More...

import "JointSample.idl";

Inheritance diagram for JointSample:
Collaboration diagram for JointSample:

List of all members.

Public Attributes

public FloatSequence anglePos
 Angle position (in radians) of the joint.
public FloatSequence angleVel
 Angle velocity (in radians/sec) of the joint.
public FloatSequence angleAcc
 Angle acceleration (in radians/sec^2) of the joint.
public FloatSequence current
 Current draw of joint motor.
public FloatSequence torque
 Torque sensed at the joint (in N-m).
public FloatSequence temperature
 Temperature of the joint (in degrees Celsius).
public LongSequence status
 Bit field representing the state of the joint.
public NFSeqSequence16 auxFloat
 A list of sequences for any parameters not otherwise included.

Detailed Description

Use JointConfig to deciper the configuration of joints.

Member Data Documentation

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