.. _program_listing_file_include_franka_robot_state.h:

Program Listing for File robot_state.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_franka_robot_state.h>` (``include/franka/robot_state.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2024 Franka Robotics GmbH
   // Use of this source code is governed by the Apache-2.0 license, see LICENSE
   #pragma once
   
   #include <array>
   #include <ostream>
   
   #include <franka/duration.h>
   #include <franka/errors.h>
   
   namespace franka {
   
   enum class RobotMode {
     kOther,
     kIdle,
     kMove,
     kGuiding,
     kReflex,
     kUserStopped,
     kAutomaticErrorRecovery
   };
   
   struct RobotState {
     std::array<double, 16> O_T_EE{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 16> O_T_EE_d{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 16> F_T_EE{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 16> F_T_NE{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 16> NE_T_EE{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 16> EE_T_K{};  // NOLINT(readability-identifier-naming)
   
     double m_ee{};
   
     std::array<double, 9> I_ee{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 3> F_x_Cee{};  // NOLINT(readability-identifier-naming)
   
     double m_load{};
   
     std::array<double, 9> I_load{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 3> F_x_Cload{};  // NOLINT(readability-identifier-naming)
   
     double m_total{};
   
     std::array<double, 9> I_total{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 3> F_x_Ctotal{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 2> elbow{};
   
     std::array<double, 2> elbow_d{};
   
     std::array<double, 2> elbow_c{};
   
     std::array<double, 2> delbow_c{};
   
     std::array<double, 2> ddelbow_c{};
   
     std::array<double, 7> tau_J{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 7> tau_J_d{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 7> dtau_J{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 7> q{};
   
     std::array<double, 7> q_d{};
   
     std::array<double, 7> dq{};
   
     std::array<double, 7> dq_d{};
   
     std::array<double, 7> ddq_d{};
   
     std::array<double, 7> joint_contact{};
   
     std::array<double, 6> cartesian_contact{};
   
     std::array<double, 7> joint_collision{};
   
     std::array<double, 6> cartesian_collision{};
   
     std::array<double, 7> tau_ext_hat_filtered{};
   
     std::array<double, 6> O_F_ext_hat_K{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 6> K_F_ext_hat_K{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 6> O_dP_EE_d{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 3> O_ddP_O{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 16> O_T_EE_c{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 6> O_dP_EE_c{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 6> O_ddP_EE_c{};  // NOLINT(readability-identifier-naming)
   
     std::array<double, 7> theta{};
   
     std::array<double, 7> dtheta{};
   
     Errors current_errors{};
   
     Errors last_motion_errors{};
   
     double control_command_success_rate{};
   
     RobotMode robot_mode = RobotMode::kUserStopped;
   
     Duration time{};
   };
   
   std::ostream& operator<<(std::ostream& ostream, const franka::RobotState& robot_state);
   
   std::ostream& operator<<(std::ostream& ostream, RobotMode robot_mode);
   
   }  // namespace franka