CollisionAvoidanceVelController::CollisionData Struct Reference

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

Public Member Functions
void	clearValues ()
	CollisionData (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
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	repulsiveVel = -1.0F

Constructor & Destructor Documentation

CollisionData()

CollisionData ( unsigned int size )

inline

Member Function Documentation

clearValues()

void clearValues ( )

inline

Member Data Documentation

damping

float damping = -1.0F

desiredNSColl

float desiredNSColl = -1.0F

direction

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

distanceVelocity

float distanceVelocity = -1.0F

jacobian

Eigen::MatrixXd jacobian

localStiffness

float localStiffness = -1.0F

minDistance

float minDistance = -1.0F

node1

unsigned int node1 = 0

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

node2

unsigned int node2 = 0

point1

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

point2

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

projectedImpedanceForce

float projectedImpedanceForce = -1.0F

projectedJacT

Eigen::VectorXf projectedJacT

projectedMass

float projectedMass = -1.0F

repulsiveVel

float repulsiveVel = -1.0F

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

• armarx/control/common/control_law/CollisionAvoidanceVel.h