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

Member Function Documentation

reset()

void reset	(	size_t	nDoFNodeSet,
		size_t	nDoFVelocity )

run()

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

Member Data Documentation

active

bool active = false

jointVel

Eigen::VectorXf jointVel

nDoFVel

size_t nDoFVel = 0

qdAcc

Eigen::VectorXf qdAcc

qdVel

Eigen::VectorXf qdVel

qTemp

Eigen::VectorXf qTemp

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

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