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

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

Public Member Functions

void reset (size_t nDoFNodeSet, size_t nDoFVelocity)
 
void run (Eigen::VectorXf &jointTorque, float jointVelLimit, const TSCtrlRtStatus &rts)
 

Public Attributes

bool active = false
 
Eigen::VectorXf jointVel
 
size_t nDoFVel = 0
 
Eigen::VectorXf qdAcc
 
Eigen::VectorXf qdVel
 
Eigen::VectorXf qTemp
 

Detailed Description

Definition at line 139 of file CollisionAvoidance.h.

Member Function Documentation

◆ reset()

void reset ( size_t nDoFNodeSet,
size_t nDoFVelocity )

Definition at line 903 of file CollisionAvoidance.cpp.

◆ run()

void run ( Eigen::VectorXf & jointTorque,
float jointVelLimit,
const TSCtrlRtStatus & rts )

Definition at line 880 of file CollisionAvoidance.cpp.

+ Here is the caller graph for this function:

Member Data Documentation

◆ active

bool active = false

Definition at line 145 of file CollisionAvoidance.h.

◆ jointVel

Eigen::VectorXf jointVel

Definition at line 144 of file CollisionAvoidance.h.

◆ nDoFVel

size_t nDoFVel = 0

Definition at line 146 of file CollisionAvoidance.h.

◆ qdAcc

Eigen::VectorXf qdAcc

Definition at line 142 of file CollisionAvoidance.h.

◆ qdVel

Eigen::VectorXf qdVel

Definition at line 141 of file CollisionAvoidance.h.

◆ qTemp

Eigen::VectorXf qTemp

Definition at line 143 of file CollisionAvoidance.h.

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