dm::JointState Struct Reference

#include <dynamics_math.h>

Public Attributes
Eigen::Vector3d	position = {0.0, 0.0, 0.0}
Eigen::Vector3d	euler = {0.0, 0.0, 0.0}

Detailed Description

The JointState struct defines both the position and the orientation of a body/frame. The Euler angles follow the post multiply sequence zyx. Rotate "psi" around Z (yaw), "theta" around y (pitch) and "phi" around x (roll).

Definition at line 19 of file dynamics_math.h.

Member Data Documentation

euler

Eigen::Vector3d dm::JointState::euler = {0.0, 0.0, 0.0}

Definition at line 24 of file dynamics_math.h.

position

Eigen::Vector3d dm::JointState::position = {0.0, 0.0, 0.0}

Definition at line 21 of file dynamics_math.h.

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

• include/dynamics_math.h