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.

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Detailed Description

Use JointConfig to deciper the configuration of joints.

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Member Data Documentation

public FloatSequence angleAcc

public FloatSequence anglePos

public FloatSequence angleVel

public NFSeqSequence16 auxFloat

public FloatSequence current

public LongSequence status

public FloatSequence temperature

public FloatSequence torque

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

• JointSample.idl