Module robot_state 

Public robot state (mirrors franka::RobotState, all values f64).

The conversion from the packed wire struct (RobotState::from_wire) lives in this file too and is added together with the wire layer.

Structs

RobotState

Describes the robot state (field names and semantics identical to franka::RobotState; see libfranka’s robot_state.h for the documentation of every field).

Enums

RobotMode

Robot mode (franka::RobotMode).

Constants

IDENTITY_TRANSFORM

Identity 4x4 transform in column-major order.

Functions

combine_center_of_mass

Combines the centres of mass of the end effector and the load.

combine_inertia_tensor

Combines the inertia tensors of the end effector and the load about the combined centre of mass.