CollisionAvoidanceController::JointRangeBufferZoneData Struct Reference

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

Public Attributes
float	desiredNSjointLim = 0.0F
float	invThresholdSq = 0.0F
bool	isLimitless = false
Eigen::Vector4f	jointLimitNullSpaceWeightsHigh = Eigen::Vector4f::Zero()
Eigen::Vector4f	jointLimitNullSpaceWeightsLow = Eigen::Vector4f::Zero()
std::string	jointName = ""
	for each joint, that has a limit, based on the config parameters: jointRangeBufferZone jointRangeBufferZone_z1 jointRangeBufferZone_z2
float	kRepulsive = 0.0F
float	qLimHigh = 0.0F
float	qLimLow = 0.0F
float	qposThresholdHigh = 0.0F
float	qposThresholdLow = 0.0F
float	qposZ1High = 0.0F
float	qposZ1Low = 0.0F
	null space parameters
float	qposZ2High = 0.0F
float	qposZ2Low = 0.0F
float	repulsiveTorque = 0.0F
float	thresholdRange = 0.0F
float	totalDamping = 0.0F

Member Data Documentation

desiredNSjointLim

float desiredNSjointLim = 0.0F

invThresholdSq

float invThresholdSq = 0.0F

isLimitless

bool isLimitless = false

jointLimitNullSpaceWeightsHigh

Eigen::Vector4f jointLimitNullSpaceWeightsHigh = Eigen::Vector4f::Zero()

jointLimitNullSpaceWeightsLow

Eigen::Vector4f jointLimitNullSpaceWeightsLow = Eigen::Vector4f::Zero()

jointName

std::string jointName = ""

for each joint, that has a limit, based on the config parameters: jointRangeBufferZone jointRangeBufferZone_z1 jointRangeBufferZone_z2

the specific values depending on the joint range of each joint have to be calculated (and stored, so the calculation is only done in the init)

kRepulsive

float kRepulsive = 0.0F

qLimHigh

float qLimHigh = 0.0F

qLimLow

float qLimLow = 0.0F

qposThresholdHigh

float qposThresholdHigh = 0.0F

qposThresholdLow

float qposThresholdLow = 0.0F

qposZ1High

float qposZ1High = 0.0F

qposZ1Low

float qposZ1Low = 0.0F

null space parameters

qposZ2High

float qposZ2High = 0.0F

qposZ2Low

float qposZ2Low = 0.0F

repulsiveTorque

float repulsiveTorque = 0.0F

thresholdRange

float thresholdRange = 0.0F

totalDamping

float totalDamping = 0.0F

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

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