Basic RT components and utilities  315.12.1
Public Attributes
OpenHRP::RobotHardwareService::RobotState2 Struct Reference

status of the robot More...

import "RobotHardwareService.idl";

List of all members.

Public Attributes

DblSequence angle
 current joint angles[rad]
DblSequence command
 reference joint angles[rad]
DblSequence torque
 joint torques[Nm]
LongSequenceSequence servoState
 servo statuses(32bit+extra states)
sequence< DblSequence6force
 forces[N] and torques[Nm]
sequence< DblSequence3rateGyro
 angular velocities[rad/s]
sequence< DblSequence3accel
 accelerations[m/(s^2)]
sequence< BatteryStatebatteries
 battery states
double voltage
 voltage of power supply[V]
double current
 current[A]
sequence< double > temperature
 temperatures

Detailed Description

status of the robot


Member Data Documentation

accelerations[m/(s^2)]

current joint angles[rad]

battery states

reference joint angles[rad]

current[A]

forces[N] and torques[Nm]

angular velocities[rad/s]

servo statuses(32bit+extra states)

0: calib status ( 1 => done )
1: servo status ( 1 => on )
2: power status ( 1 => supplied )
3-18: servo alarms (see iob.h)
19-23: unused 24-31: driver temperature (deg)

temperatures

joint torques[Nm]

voltage of power supply[V]


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