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. Use NaN to indicate that the value is not present if the message definition does not support optional fields.

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

Joint velocity. Rad/s for revolute joints, m/s for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.

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

Joint acceleration. Rad/s² for revolute joints, m/s² for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.

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

Joint effort (force or torque). Nm for revolute joints, N for prismatic joints. Use NaN to indicate that the value is not present if the message definition does not support optional fields.

Public Static Functions

static Schema schema()

Get the JointState schema.

The schema data returned is statically allocated.