mujoco_ros2_control::MujocoSimulation::ControlState Struct Reference

Small snapshot of the state the hardware interface needs every control cycle. More...

#include <mujoco_simulation.hpp>

Public Attributes
mjtNum	time { 0.0 }
std::vector< mjtNum >	qpos
std::vector< mjtNum >	qvel
std::vector< mjtNum >	act
std::vector< mjtNum >	qfrc_actuator
std::vector< mjtNum >	sensordata
std::vector< mjtNum >	ctrl

Detailed Description

Small snapshot of the state the hardware interface needs every control cycle.

This data structure is much smaller than a full mjData copy, so publishing and copying it is also far cheaper, regardless of scene complexity. Refreshed by the physics loop after every step, immediately before that step's /clock tick, so a consumer woken by a clock tick sees state that is synchronous with (or newer than) that tick's sim time.

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

• mujoco_ros2_control/mujoco_ros2_control/include/mujoco_ros2_control/mujoco_simulation.hpp