38 #ifndef AMINO_CT_STATE_H
39 #define AMINO_CT_STATE_H
State description of a robot.
int aa_ct_state_eq(struct aa_ct_state *s1, struct aa_ct_state *s2)
Compares two states to verify if they are the same, within AA_EPSILON bounds.
double * ddX
Acceleration (Acceleration / Rotation Vector)
Data Structure for Region-Based memory allocation.
double * ddq
Acceleration.
double * dX
Velocity (Velocity / Rotation Vector)
double * TF_rel
Relative frame transforms.
size_t n_tf
Number of frames.
void aa_ct_state_clone(struct aa_mem_region *reg, struct aa_ct_state *dest, struct aa_ct_state *src)
Creates and allocates a copy of a state.
void aa_ct_state_dump(FILE *stream, struct aa_ct_state *state)
Prints out the jointspace components of a state.
double * X
Position (Quaterion-Vector)
double * TF_abs
Absolute frame transforms.
size_t n_q
Number of configuration variables.