Data Structures

Here are the data structures with brief descriptions:

Clmc_all_joint_poses	Data structure to store all joint positions
Clmc_all_sampled_joint_state	All sample joint state data
Clmc_controller_cartesian_admittance_config	Cartesian admiitance controler config data struct
Clmc_euler_zyx	Euler zyx representation of rotation
Clmc_euler_zyz	Euler zyx representation of rotation
Clmc_joint_cmd	Joint command data
Clmc_joint_state	Joint state data
Clmc_link_config	Overall parameter for a single link,
Clmc_link_dh_config	DH parameter for a link
Clmc_link_dyn_config	Dynamic parameter for a link
Clmc_quaternion	Quaternion representation of rotation
Clmc_robot_model_config	Overall parameters for a robot model
Clmc_rpy	RPY representation of rotation
Clmc_tg_config	Configuration data structure for trajectory generator
Clmc_tg_limit	Limitation data structure for trajectory generator
Clmc_tg_move_param	Trjecotry generator move parameter
Clmc_tg_runtime_data	Trjecotry generator runtime data
Clmc_tg_speed_param	Trjecotry generator speed parameter
Clmc_tg_toward_param	Trjecotry generator toward parameter
Clmc_tg_update_ret	Trjecotry generator update ret value
Clmc_tool_payload	Tool payload data
Clmc_transform	Transform representation
Clmc_translation	Cartesian translation coordinate
Clmc_twist	Transform velocity representation
Clmc_wrench	Transform force representation