39 lines
852 B
C
39 lines
852 B
C
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#ifndef LOWLEVELSTATE_HPP
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#define LOWLEVELSTATE_HPP
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#include <iostream>
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#include <vector>
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#include "math/mathTypes.h"
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#include "message/arm_common.h"
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Vec6 PosturetoVec6(const Posture p);
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Posture Vec6toPosture(const Vec6 p);
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struct LowlevelState{
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private:
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size_t _dof = 6;
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public:
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LowlevelState();
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~LowlevelState(){};
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Vec6 endPosture;
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std::vector<double> q;
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std::vector<double> dq;
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std::vector<double> ddq;
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std::vector<double> tau;
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std::vector<int> temperature;
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std::vector<uint8_t> errorstate;
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std::vector<uint8_t> isMotorConnected;
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Vec6 getQ();
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Vec6 getQd();
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Vec6 getQdd();
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Vec6 getTau();
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double getGripperQ() {return q.at(q.size()-1);}
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double getGripperQd() {return dq.at(q.size()-1);}
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double getGripperTau() {return tau.at(tau.size()-1);}
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};
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#endif //LOWLEVELSTATE_HPP
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