Initial commit

srcs/RobotNet10/Shared/RobotNet10.Shared/Sensor/JointState.cs

@@ -0,0 +1,46 @@
+namespace RobotNet10.Shared.Sensor;
+
+/// <summary>
+/// JointState message (sensor_msgs/JointState)
+/// This message holds data to describe the state of a set of torque controlled joints
+/// </summary>
+public struct JointState
+{
+    /// <summary>
+    /// Header with timestamp and frame ID
+    /// </summary>
+    public Header Header { get; set; }
+
+    /// <summary>
+    /// The joint names
+    /// </summary>
+    public string[] Name { get; set; }
+
+    /// <summary>
+    /// The joint positions (rad)
+    /// </summary>
+    public double[] Position { get; set; }
+
+    /// <summary>
+    /// The joint velocities (rad/s)
+    /// </summary>
+    public double[] Velocity { get; set; }
+
+    /// <summary>
+    /// The joint efforts (Nm)
+    /// </summary>
+    public double[] Effort { get; set; }
+
+    /// <summary>
+    /// Default constructor
+    /// </summary>
+    public JointState()
+    {
+        Header = new Header();
+        Name = Array.Empty<string>();
+        Position = Array.Empty<double>();
+        Velocity = Array.Empty<double>();
+        Effort = Array.Empty<double>();
+    }
+}
+