struct
PositionToJointControllerInputInput data structure for the PositionToJointController.
This structure contains all the feedback and reference signals required by the controller to compute the appropriate motor joint 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].