List of all members | Public Attributes
KeypointsImpedanceController::NonRtStatus Struct Reference

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

Public Attributes

Eigen::VectorXf currentKeypointPosition
 
Eigen::VectorXf currentKeypointVelocity
 
Eigen::Matrix4f currentPose
 task space variables More...
 
Eigen::Vector6f currentTwist
 
Eigen::Vector6f desiredAcc
 
Eigen::VectorXf desiredDensityForce
 
Eigen::VectorXf desiredKeypointPosition
 
Eigen::VectorXf desiredKeypointVelocity
 
Eigen::Matrix4f desiredPose
 
Eigen::Vector6f desiredVel
 
Eigen::VectorXf filteredKeypointPosition
 
Eigen::MatrixXf jacobi
 others More...
 
Eigen::MatrixXf jtpinv
 
Eigen::Vector6f pointTrackingForce
 keypoint status More...
 
Eigen::VectorXf previousKeypointPosition
 
Eigen::VectorXf qpos
 joint space variable More...
 
Eigen::VectorXf qvel
 

Detailed Description

Definition at line 89 of file KeypointsImpedanceController.h.

Member Data Documentation

◆ currentKeypointPosition

Eigen::VectorXf currentKeypointPosition

Definition at line 112 of file KeypointsImpedanceController.h.

◆ currentKeypointVelocity

Eigen::VectorXf currentKeypointVelocity

Definition at line 113 of file KeypointsImpedanceController.h.

◆ currentPose

Eigen::Matrix4f currentPose

task space variables

Definition at line 96 of file KeypointsImpedanceController.h.

◆ currentTwist

Eigen::Vector6f currentTwist

Definition at line 97 of file KeypointsImpedanceController.h.

◆ desiredAcc

Eigen::Vector6f desiredAcc

Definition at line 101 of file KeypointsImpedanceController.h.

◆ desiredDensityForce

Eigen::VectorXf desiredDensityForce

Definition at line 117 of file KeypointsImpedanceController.h.

◆ desiredKeypointPosition

Eigen::VectorXf desiredKeypointPosition

Definition at line 115 of file KeypointsImpedanceController.h.

◆ desiredKeypointVelocity

Eigen::VectorXf desiredKeypointVelocity

Definition at line 116 of file KeypointsImpedanceController.h.

◆ desiredPose

Eigen::Matrix4f desiredPose

Definition at line 99 of file KeypointsImpedanceController.h.

◆ desiredVel

Eigen::Vector6f desiredVel

Definition at line 100 of file KeypointsImpedanceController.h.

◆ filteredKeypointPosition

Eigen::VectorXf filteredKeypointPosition

Definition at line 109 of file KeypointsImpedanceController.h.

◆ jacobi

Eigen::MatrixXf jacobi

others

Definition at line 104 of file KeypointsImpedanceController.h.

◆ jtpinv

Eigen::MatrixXf jtpinv

Definition at line 105 of file KeypointsImpedanceController.h.

◆ pointTrackingForce

Eigen::Vector6f pointTrackingForce

keypoint status

Definition at line 108 of file KeypointsImpedanceController.h.

◆ previousKeypointPosition

Eigen::VectorXf previousKeypointPosition

Definition at line 110 of file KeypointsImpedanceController.h.

◆ qpos

Eigen::VectorXf qpos

joint space variable

Definition at line 92 of file KeypointsImpedanceController.h.

◆ qvel

Eigen::VectorXf qvel

Definition at line 93 of file KeypointsImpedanceController.h.

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