multi_d_o_f_joint_state.hpp

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namespace sensor_msgs::msg {
class MultiDOFJointState {
public:
    // Representation of state for joints with multiple degrees of freedom,
    // following the structure of JointState which can only represent a single degree of freedom.
    // 
    // It is assumed that a joint in a system corresponds to a transform that gets applied
    // along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)
    // and those 3DOF can be expressed as a transformation matrix, and that transformation
    // matrix can be converted back to (x, y, yaw)
    // 
    // Each joint is uniquely identified by its name
    // The header specifies the time at which the joint states were recorded. All the joint states
    // in one message have to be recorded at the same time.
    // 
    // This message consists of a multiple arrays, one for each part of the joint state.
    // The goal is to make each of the fields optional. When e.g. your joints have no
    // wrench associated with them, you can leave the wrench array empty.
    // 
    // All arrays in this message should have the same size, or be empty.
    // This is the only way to uniquely associate the joint name with the correct
    // states.
 
    std_msgs::msg::Header header;
 
    std::vector<std::string> joint_names;
    std::vector<geometry_msgs::msg::Transform> transforms;
    std::vector<geometry_msgs::msg::Twist> twist;
    std::vector<geometry_msgs::msg::Wrench> wrench;
};
} // namespace sensor_msgs::msg