ConstDynEffectorMsgPayload

struct ConstDynEffectorMsgPayload

#include <ConstDynEffectorMsgPayload.h>

Structure used to Constraint Dynamic Effector output message.

Public Members

double Fc_N[3]

[N] Constraint force applied in Inertial frame

double L1_B1[3]

[N.m] Constraint torque applied on s/c 1 in B1 frame

double L2_B2[3]

[N.m] Constraint torque applied on s/c 2 in B2 frame

double psi_N[3]

[m] Direction constraint violation

double Fc_mag_filtered

[N] Magnitude of filtered constraint force applied in Inertial frame

double L1_mag_filtered

[N.m] Magnitude of filtered constraint torque on s/c 1 applied in B1 frame

double L2_mag_filtered

[N.m] Magnitude of filtered constraint torque on s/c 2 applied in B2 frame