HEBI C++ API  3.9.0
hebi::experimental::arm::Arm::Params Struct Reference

#include <arm.hpp>

Public Attributes

std::vector< std::string > families_
 
std::vector< std::string > names_
 
int command_lifetime_ = 100
 
double control_frequency_ = 200.f
 
std::string hrdf_file_
 
std::shared_ptr< robot_model::RobotModelrobot_model_
 
std::shared_ptr< EndEffectorBaseend_effector_
 
std::function< double()> get_current_time_s_
 

Member Data Documentation

◆ families_

std::vector<std::string> hebi::experimental::arm::Arm::Params::families_

◆ names_

std::vector<std::string> hebi::experimental::arm::Arm::Params::names_

◆ command_lifetime_

int hebi::experimental::arm::Arm::Params::command_lifetime_ = 100

◆ control_frequency_

double hebi::experimental::arm::Arm::Params::control_frequency_ = 200.f

◆ hrdf_file_

std::string hebi::experimental::arm::Arm::Params::hrdf_file_

◆ robot_model_

std::shared_ptr<robot_model::RobotModel> hebi::experimental::arm::Arm::Params::robot_model_

◆ end_effector_

std::shared_ptr<EndEffectorBase> hebi::experimental::arm::Arm::Params::end_effector_

◆ get_current_time_s_

std::function<double()> hebi::experimental::arm::Arm::Params::get_current_time_s_
Initial value:
= []() {
using clock = std::chrono::steady_clock;
static const clock::time_point start_time = clock::now();
return (std::chrono::duration<double>(clock::now() - start_time)).count();
}

The documentation for this struct was generated from the following file: