NJointCartesianVelocityControllerControlData Class Reference

#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h>

Public Attributes
float	avoidJointLimitsKp = 0
VirtualRobot::IKSolver::CartesianSelection	mode = VirtualRobot::IKSolver::All
std::vector< float >	nullspaceJointVelocities
float	pitchVel = 0
float	rollVel = 0
std::vector< float >	torqueKd
std::vector< float >	torqueKp
float	xVel = 0
float	yawVel = 0
float	yVel = 0
float	zVel = 0

Detailed Description

Definition at line 42 of file NJointCartesianVelocityController.h.

Member Data Documentation

avoidJointLimitsKp

float avoidJointLimitsKp = 0

Definition at line 52 of file NJointCartesianVelocityController.h.

mode

VirtualRobot::IKSolver::CartesianSelection mode = VirtualRobot::IKSolver::All

Definition at line 56 of file NJointCartesianVelocityController.h.

nullspaceJointVelocities

std::vector<float> nullspaceJointVelocities

Definition at line 51 of file NJointCartesianVelocityController.h.

pitchVel

float pitchVel = 0

Definition at line 49 of file NJointCartesianVelocityController.h.

rollVel

float rollVel = 0

Definition at line 48 of file NJointCartesianVelocityController.h.

torqueKd

std::vector<float> torqueKd

Definition at line 54 of file NJointCartesianVelocityController.h.

torqueKp

std::vector<float> torqueKp

Definition at line 53 of file NJointCartesianVelocityController.h.

xVel

float xVel = 0

Definition at line 45 of file NJointCartesianVelocityController.h.

yawVel

float yawVel = 0

Definition at line 50 of file NJointCartesianVelocityController.h.

yVel

float yVel = 0

Definition at line 46 of file NJointCartesianVelocityController.h.

zVel

float zVel = 0

Definition at line 47 of file NJointCartesianVelocityController.h.

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The documentation for this class was generated from the following file:

• RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianVelocityController.h