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>();
    }
}