mujoco_ros2_control::FTSensorData Struct Reference

#include <data.hpp>

Collaboration diagram for mujoco_ros2_control::FTSensorData:

Public Attributes
std::string	name
SensorData< Eigen::Vector3d >	force
SensorData< Eigen::Vector3d >	torque
double	force_noise_stddev = 0.0
double	torque_noise_stddev = 0.0
NoiseState	noise

Detailed Description

Parameters

force_noise_stddev	Standard deviation (N) of zero-mean Gaussian noise added to force on read; taken from the underlying MJCF <force> sensor's noise attribute (0 by default, which disables it).
torque_noise_stddev	Standard deviation (N*m) of zero-mean Gaussian noise added to torque on read; taken from the underlying MJCF <torque> sensor's noise attribute (0 by default, which disables it).
noise	Shape (ros2_control noise_distribution parameter, defaults to Gaussian) and RNG shared by both noise fields above; the RNG is seeded from std::random_device (noise is non-deterministic across runs).

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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/data.hpp