NJointCCDMPControllerControlData Class Reference

#include <armarx/control/deprecated_njoint_mp_controller/task_space/NJointCCDMPController.h>

Public Attributes
float	avoidJointLimitsKp = 0
VirtualRobot::IKSolver::CartesianSelection	mode = VirtualRobot::IKSolver::All
std::vector< float >	nullspaceJointVelocities
Eigen::VectorXf	targetTSVel
std::vector< float >	torqueKd
std::vector< float >	torqueKp

Detailed Description

Definition at line 30 of file NJointCCDMPController.h.

Member Data Documentation

avoidJointLimitsKp

float avoidJointLimitsKp = 0

Definition at line 36 of file NJointCCDMPController.h.

mode

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

Definition at line 39 of file NJointCCDMPController.h.

nullspaceJointVelocities

std::vector<float> nullspaceJointVelocities

Definition at line 35 of file NJointCCDMPController.h.

targetTSVel

Eigen::VectorXf targetTSVel

Definition at line 33 of file NJointCCDMPController.h.

torqueKd

std::vector<float> torqueKd

Definition at line 38 of file NJointCCDMPController.h.

torqueKp

std::vector<float> torqueKp

Definition at line 37 of file NJointCCDMPController.h.

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

• armarx/control/deprecated_njoint_mp_controller/task_space/NJointCCDMPController.h