TaskspaceImpedanceController::RtStatus Struct Reference

internal status of the controller, containing intermediate variables, mutable targets More...

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

Inheritance diagram for TaskspaceImpedanceController::RtStatus:

Public Member Functions
void	reset (const unsigned int nDoF)
void	rtPreActivate (const Eigen::Matrix4f &currentPose)

Public Attributes
Eigen::Vector6f	currentForceTorque
	force torque More...
Eigen::Matrix4f	currentPose
Eigen::Vector6f	currentTwist
Eigen::VectorXf	desiredJointTorques
	targets More...
Eigen::Matrix4f	desiredPose
Eigen::Vector6f	forceImpedance
	task space variables More...
Eigen::MatrixXf	jacobi
	others More...
Eigen::MatrixXf	jtpinv
Eigen::VectorXf	nullspaceTorque
Eigen::AngleAxisf	oriDiffAngleAxis
Eigen::Matrix3f	poseDiffMatImp
	intermediate results More...
Eigen::Vector6f	poseErrorImp
Eigen::VectorXf	qvelFiltered
	current status More...
bool	rtSafe
bool	rtTargetSafe = true
Public Attributes inherited from RobotStatus
double	accumulateTime = 0.0
double	deltaT = 0
Eigen::VectorXf	jointPos
std::vector< float >	jointPosition
Eigen::VectorXf	jointTor
std::vector< float >	jointTorque
Eigen::VectorXf	jointVel
std::vector< float >	jointVelocity
unsigned int	numJoints

Detailed Description

internal status of the controller, containing intermediate variables, mutable targets

Definition at line 44 of file TaskspaceImpedanceController.h.

Member Function Documentation

reset()

void reset

(

const unsigned int

nDoF

)

This function can be called before the RT thread. base

targets

force torque

task space variables

current status

intermediate results

others

Definition at line 168 of file TaskspaceImpedanceController.cpp.

Here is the call graph for this function:

rtPreActivate()

void rtPreActivate

(

const Eigen::Matrix4f &

currentPose

)

!!!! TO BE UPDATED IN PREACTIVATE !!!! only then the up-to-date robot joint information is available

Definition at line 211 of file TaskspaceImpedanceController.cpp.

Member Data Documentation

currentForceTorque

Eigen::Vector6f currentForceTorque

force torque

Definition at line 51 of file TaskspaceImpedanceController.h.

currentPose

Eigen::Matrix4f currentPose

Definition at line 58 of file TaskspaceImpedanceController.h.

currentTwist

Eigen::Vector6f currentTwist

Definition at line 59 of file TaskspaceImpedanceController.h.

desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 47 of file TaskspaceImpedanceController.h.

desiredPose

Eigen::Matrix4f desiredPose

Definition at line 60 of file TaskspaceImpedanceController.h.

forceImpedance

Eigen::Vector6f forceImpedance

task space variables

Definition at line 54 of file TaskspaceImpedanceController.h.

jacobi

Eigen::MatrixXf jacobi

others

Definition at line 68 of file TaskspaceImpedanceController.h.

jtpinv

Eigen::MatrixXf jtpinv

Definition at line 69 of file TaskspaceImpedanceController.h.

nullspaceTorque

Eigen::VectorXf nullspaceTorque

Definition at line 48 of file TaskspaceImpedanceController.h.

oriDiffAngleAxis

Eigen::AngleAxisf oriDiffAngleAxis

Definition at line 65 of file TaskspaceImpedanceController.h.

poseDiffMatImp

Eigen::Matrix3f poseDiffMatImp

intermediate results

Definition at line 63 of file TaskspaceImpedanceController.h.

poseErrorImp

Eigen::Vector6f poseErrorImp

Definition at line 64 of file TaskspaceImpedanceController.h.

qvelFiltered

Eigen::VectorXf qvelFiltered

current status

Definition at line 57 of file TaskspaceImpedanceController.h.

rtSafe

bool rtSafe

Definition at line 70 of file TaskspaceImpedanceController.h.

rtTargetSafe

bool rtTargetSafe = true

Definition at line 71 of file TaskspaceImpedanceController.h.

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

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