#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

Detailed Description

Definition at line 109 of file CollisionAvoidance.h.

Member Data Documentation

◆ desiredNSjointLim

float desiredNSjointLim = 0.0F

Definition at line 134 of file CollisionAvoidance.h.

◆ invThresholdSq

float invThresholdSq = 0.0F

Definition at line 123 of file CollisionAvoidance.h.

◆ isLimitless

bool isLimitless = false

Definition at line 119 of file CollisionAvoidance.h.

◆ jointLimitNullSpaceWeightsHigh

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

Definition at line 133 of file CollisionAvoidance.h.

◆ jointLimitNullSpaceWeightsLow

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

Definition at line 132 of file CollisionAvoidance.h.

◆ 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)

Definition at line 118 of file CollisionAvoidance.h.

◆ kRepulsive

float kRepulsive = 0.0F

Definition at line 124 of file CollisionAvoidance.h.

◆ qLimHigh

float qLimHigh = 0.0F

Definition at line 121 of file CollisionAvoidance.h.

◆ qLimLow

float qLimLow = 0.0F

Definition at line 120 of file CollisionAvoidance.h.

◆ qposThresholdHigh

float qposThresholdHigh = 0.0F

Definition at line 126 of file CollisionAvoidance.h.

◆ qposThresholdLow

float qposThresholdLow = 0.0F

Definition at line 125 of file CollisionAvoidance.h.

◆ qposZ1High

float qposZ1High = 0.0F

Definition at line 130 of file CollisionAvoidance.h.

◆ qposZ1Low

float qposZ1Low = 0.0F

null space parameters

Definition at line 128 of file CollisionAvoidance.h.

◆ qposZ2High

float qposZ2High = 0.0F

Definition at line 131 of file CollisionAvoidance.h.

◆ qposZ2Low

float qposZ2Low = 0.0F

Definition at line 129 of file CollisionAvoidance.h.

◆ repulsiveTorque

float repulsiveTorque = 0.0F

Definition at line 135 of file CollisionAvoidance.h.

◆ thresholdRange

float thresholdRange = 0.0F

Definition at line 122 of file CollisionAvoidance.h.

◆ totalDamping

float totalDamping = 0.0F

Definition at line 136 of file CollisionAvoidance.h.

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

armarx/control/common/control_law/CollisionAvoidance.h

Public Attributes