Inheritance diagram for KVILImpedanceMPConfig:

Public Attributes
std::vector< Constraint1 >	constraintList

std::vector< mp::MP::MPConfig >	mpList

Public Attributes inherited from KeypointsImpedanceController::Config
float	densityForceScaling = 1.0

std::optional< Eigen::VectorXf >	desiredNullspaceJointAngles

Eigen::VectorXf	fixedTranslation

bool	isRigid = false

Eigen::Vector6f	kdAdmittance

Eigen::Vector6f	kdImpedance

Eigen::VectorXf	kdNullspace

Eigen::VectorXf	keypointKd

Eigen::VectorXf	keypointKp

float	keypointPositionFilter = 1.0f

float	keypointVelocityFilter = 1.0f

Eigen::Vector6f	kmAdmittance

Eigen::Vector6f	kpImpedance

Eigen::VectorXf	kpNullspace

std::string	nodeSetName

int	numPoints
	keypoints related More...

float	qvelFilter

float	torqueLimit

Detailed Description

Definition at line 59 of file KVILImpedanceController.h.

Member Data Documentation

std::vector<Constraint1> constraintList

Definition at line 63 of file KVILImpedanceController.h.

std::vector<mp::MP::MPConfig> mpList

Definition at line 62 of file KVILImpedanceController.h.

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