roboticslab::ICartesianControl::ControllerState Struct Reference

Controller state structure. More...

#include <ICartesianControl.h>

Public Attributes
std::vector< double >	x
	Current pose: translation (3, meters) + rotation (3, radians, scaled axis-angle)
Mode	mode
	Current controller mode.
double	timestamp
	Timestamp of the last received pose.
double	duration
	Duration of the current trajectory, if any (seconds)
float	progress
	Progress of the current trajectory, if any (0.0 to 1.0)
bool	success
	Whether the last trajectory command was successful.

Detailed Description

Used by ICartesianControl::getState to return the current state of the controller.

---

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

• libraries/YarpPlugins/ICartesianControl.h