BipedalLocomotion::JointLevelControllers::PositionToCurrentControllerInput struct
#include <BipedalLocomotion/JointLevelControllers/PositionToCurrentController.h>

Input data structure for the PositionToCurrentController.

This structure contains all the feedback and reference signals required by the controller to compute the appropriate motor current commands. All vectors must have the same size corresponding to the number of controlled joints.

Public variables

Eigen::VectorXd referencePosition
Desired joint positions [rad].
Eigen::VectorXd feedbackPosition
Current joint positions from encoders [rad].
Eigen::VectorXd feedbackVelocity
Current joint velocities from encoders [rad/s].