NJointTSDMPControllerControlData Class Reference

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

Public Attributes

float avoidJointLimitsKp = 0
 
VirtualRobot::IKSolver::CartesianSelection mode = VirtualRobot::IKSolver::All
 
std::vector< floatnullspaceJointVelocities
 
Eigen::Matrix4f targetPose
 
Eigen::Vector6f targetTSVel
 
std::vector< floattorqueKd
 
std::vector< floattorqueKp
 

Detailed Description

Definition at line 33 of file NJointTSDMPController.h.

Member Data Documentation

◆ avoidJointLimitsKp

float avoidJointLimitsKp = 0

Definition at line 40 of file NJointTSDMPController.h.

◆ mode

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

Definition at line 43 of file NJointTSDMPController.h.

◆ nullspaceJointVelocities

std::vector<float> nullspaceJointVelocities

Definition at line 39 of file NJointTSDMPController.h.

◆ targetPose

Eigen::Matrix4f targetPose

Definition at line 37 of file NJointTSDMPController.h.

◆ targetTSVel

Eigen::Vector6f targetTSVel

Definition at line 36 of file NJointTSDMPController.h.

◆ torqueKd

std::vector<float> torqueKd

Definition at line 42 of file NJointTSDMPController.h.

◆ torqueKp

std::vector<float> torqueKp

Definition at line 41 of file NJointTSDMPController.h.


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