Class JointStateMessage

This is a message that holds data to describe the state of a set of torque controlled joints.

The state of each joint (revolute or prismatic) is defined by:

• the position of the joint (rad or m),
• the velocity of the joint (rad/s or m/s) and
• the effort that is applied in the joint (Nm or N).

Each joint is uniquely identified by its name The header specifies the time at which the joint states were recorded. All the joint states in one message have to be recorded at the same time.

This message consists of a multiple arrays, one for each part of the joint state. The goal is to make each of the fields optional. When e.g. your joints have no effort associated with them, you can leave the effort array empty.

All arrays in this message should have the same size, or be empty. This is the only way to uniquely associate the joint name with the correct states.

Inheritance

System.Object

JointStateMessage

Implements

ZOROSMessageInterface

Inherited Members

System.Object.Equals(System.Object)

System.Object.Equals(System.Object, System.Object)

System.Object.GetHashCode()

System.Object.GetType()

System.Object.MemberwiseClone()

System.Object.ReferenceEquals(System.Object, System.Object)

System.Object.ToString()

Namespace: ZO.ROS.MessageTypes.Sensor

Assembly: Unity.ZeroSim.dll

Syntax

public class JointStateMessage : ZOROSMessageInterface

Constructors

JointStateMessage()

Declaration

public JointStateMessage()

JointStateMessage(HeaderMessage, String[], Double[], Double[], Double[])

Declaration

public JointStateMessage(HeaderMessage header, string[] name, double[] position, double[] velocity, double[] effort)

Parameters

Type	Name	Description
HeaderMessage	header
System.String[]	name
System.Double[]	position
System.Double[]	velocity
System.Double[]	effort

Properties

effort

Declaration

public double[] effort { get; set; }

Property Value

Type	Description
System.Double[]

header

Declaration

public HeaderMessage header { get; set; }

Property Value

Type	Description
HeaderMessage

MessageType

Declaration

[JsonIgnore]
public string MessageType { get; }

Property Value

Type	Description
System.String

name

Declaration

public string[] name { get; set; }

Property Value

Type	Description
System.String[]

position

Declaration

public double[] position { get; set; }

Property Value

Type	Description
System.Double[]

Type

Declaration

[JsonIgnore]
public static string Type { get; }

Property Value

Type	Description
System.String

velocity

Declaration

public double[] velocity { get; set; }

Property Value

Type	Description
System.Double[]

Methods

Update()

Declaration

public void Update()

Implements

ZOROSMessageInterface