BB.Message.Sensor.JointState (bb v0.2.1)

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State of a set of joints.

Fields

  • names - List of joint names as atoms
  • positions - Joint positions in radians (revolute) or metres (prismatic)
  • velocities - Joint velocities in rad/s or m/s
  • efforts - Joint efforts in Nm or N

All lists must have the same length. Missing values can be represented as empty lists.

Examples

alias BB.Message.Sensor.JointState

{:ok, msg} = JointState.new(:arm,
  names: [:joint1, :joint2],
  positions: [0.0, 1.57],
  velocities: [0.1, 0.0],
  efforts: [0.5, 0.2]
)

Summary

Types

t()

Functions

new(frame_id, attrs)

Types

t()

@type t() :: %BB.Message.Sensor.JointState{
  efforts: [float()],
  names: [atom()],
  positions: [float()],
  velocities: [float()]
}

Functions

new(frame_id, attrs)

@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}