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