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< floatnullspaceJointVelocities
 
float pitchVel = 0
 
float rollVel = 0
 
std::vector< floattorqueKd
 
std::vector< floattorqueKp
 
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.


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