List of all members | Public Member Functions | Public Attributes
CollisionAvoidanceController::SelfCollisionData Struct Reference

#include <armarx/control/common/control_law/CollisionAvoidance.h>

Public Member Functions

void clearValues ()
 
 SelfCollisionData (unsigned int size)
 

Public Attributes

float damping = -1.0f
 
float desiredNSColl = -1.0f
 
Eigen::Vector3f direction = Eigen::Vector3f::Zero()
 
float distanceVelocity = -1.0f
 
Eigen::MatrixXd jacobian
 
float localStiffness = -1.0f
 
float minDistance = -1.0f
 
unsigned int node1 = 0
 the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation More...
 
unsigned int node2 = 0
 
Eigen::Vector3f point1 = Eigen::Vector3f::Zero()
 
Eigen::Vector3f point2 = Eigen::Vector3f::Zero()
 
float projectedImpedanceForce = -1.0f
 
Eigen::VectorXf projectedJacT
 
float projectedMass = -1.0f
 
float repulsiveForce = -1.0f
 

Detailed Description

Definition at line 63 of file CollisionAvoidance.h.

Constructor & Destructor Documentation

◆ SelfCollisionData()

SelfCollisionData ( unsigned int  size)
inline

Definition at line 87 of file CollisionAvoidance.h.

Member Function Documentation

◆ clearValues()

void clearValues ( )
inline

Definition at line 94 of file CollisionAvoidance.h.

Member Data Documentation

◆ damping

float damping = -1.0f

Definition at line 80 of file CollisionAvoidance.h.

◆ desiredNSColl

float desiredNSColl = -1.0f

Definition at line 82 of file CollisionAvoidance.h.

◆ direction

Eigen::Vector3f direction = Eigen::Vector3f::Zero()

Definition at line 77 of file CollisionAvoidance.h.

◆ distanceVelocity

float distanceVelocity = -1.0f

Definition at line 76 of file CollisionAvoidance.h.

◆ jacobian

Eigen::MatrixXd jacobian

Definition at line 69 of file CollisionAvoidance.h.

◆ localStiffness

float localStiffness = -1.0f

Definition at line 74 of file CollisionAvoidance.h.

◆ minDistance

float minDistance = -1.0f

Definition at line 70 of file CollisionAvoidance.h.

◆ node1

unsigned int node1 = 0

the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation

Definition at line 67 of file CollisionAvoidance.h.

◆ node2

unsigned int node2 = 0

Definition at line 68 of file CollisionAvoidance.h.

◆ point1

Eigen::Vector3f point1 = Eigen::Vector3f::Zero()

Definition at line 78 of file CollisionAvoidance.h.

◆ point2

Eigen::Vector3f point2 = Eigen::Vector3f::Zero()

Definition at line 79 of file CollisionAvoidance.h.

◆ projectedImpedanceForce

float projectedImpedanceForce = -1.0f

Definition at line 85 of file CollisionAvoidance.h.

◆ projectedJacT

Eigen::VectorXf projectedJacT

Definition at line 75 of file CollisionAvoidance.h.

◆ projectedMass

float projectedMass = -1.0f

Definition at line 81 of file CollisionAvoidance.h.

◆ repulsiveForce

float repulsiveForce = -1.0f

Definition at line 73 of file CollisionAvoidance.h.

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