lmc_joint.h

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#ifndef LMC_JOINT
#define LMC_JOINT

#include <motion_control/lmc_config.h>

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

typedef struct lmc_joint_state {
    double pos;   
    double vel;   
    double acc;   
    double torque;  
    // double extra;  /*!< Extra data */
} lmc_joint_state_t;


typedef struct lmc_joint_cmd {
    double pos_cmd; 
    double vel_cmd; 
    double acc_cmd; 
    double torque_cmd; 
} lmc_joint_cmd_t;

typedef struct lmc_all_joint_poses {
    double data[LMC_MAX_IK_SOLUTIONS][LMC_MAX_JOINT_NUM];  
} lmc_all_joint_poses_t;

typedef struct lmc_all_sampled_joint_state {
    size_t sample_size;  
    lmc_joint_state_t data[LMC_MAX_SAMPLE_DATA_SIZE][LMC_MAX_JOINT_NUM];  
} lmc_all_sampled_joint_state_t;

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_JOINT */