Struct JointState

Struct Documentation

struct JointState

The state of a single joint (revolute or prismatic).

Public Functions

FoxgloveError encode(uint8_t *ptr, size_t len, size_t *encoded_len)

Encoded the JointState as protobuf to the provided buffer.

On success, writes the serialized length to *encoded_len. If the provided buffer has insufficient capacity, writes the required capacity to *encoded_len and returns FoxgloveError::BufferTooShort. If the message cannot be encoded, writes the reason to stderr and returns FoxgloveError::EncodeError.

Parameters:

  • ptr – the destination buffer. must point to at least len valid bytes.

  • len – the length of the destination buffer.

  • encoded_len – where the serialized length or required capacity will be written to.

Public Members

std::string name

Joint name.

std::optional<double> position = std::nullopt

Joint position. Radians for revolute joints, meters for prismatic joints.

std::optional<double> velocity = std::nullopt

Joint velocity. Rad/s for revolute joints, m/s for prismatic joints.

std::optional<double> acceleration = std::nullopt

Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints.

std::optional<double> effort = std::nullopt

Joint effort (force or torque). Nm for revolute joints, N for prismatic joints.

Public Static Functions

static Schema schema()

Get the JointState schema.

The schema data returned is statically allocated.