#include <armarx/control/njoint_mp_controller/task_space/BiKAC.h>

Public Attributes
Eigen::Matrix4f	currentFrameRoot

Eigen::Matrix4f	currentKptPoseLocal

Eigen::Matrix4f	currentKptPoseRoot

Eigen::Vector6f	currentKptVelocityLocal

Eigen::Vector6f	currentKptVelocityRoot

int	idx

float	keypointForceFilter

float	keypointPositionFilter

float	keypointVelocityFilter

Eigen::Vector3f	kptKd

Eigen::Vector3f	kptKp

std::string	mpName

int	p2pIdx

Eigen::Matrix3f	pcaComponentsLocal

Eigen::Vector3f	pcaMeanLocal

Eigen::Matrix4f	poseDiffFrameLocal

Eigen::Matrix4f	poseDiffKptLocal

float	priorityFactor

std::string	rnsFrame

std::string	rnsKpt

Eigen::Matrix4f	targetKptPoseLocal

Eigen::Matrix4f	targetKptPoseRoot

Eigen::Vector3f	trackingForceLocal

Eigen::Vector3f	trackingForceRoot

std::string	type

Detailed Description

Definition at line 36 of file BiKAC.h.

Member Data Documentation

◆ currentFrameRoot

Eigen::Matrix4f currentFrameRoot

Definition at line 51 of file BiKAC.h.

◆ currentKptPoseLocal

Eigen::Matrix4f currentKptPoseLocal

Definition at line 53 of file BiKAC.h.

◆ currentKptPoseRoot

Eigen::Matrix4f currentKptPoseRoot

Definition at line 52 of file BiKAC.h.

◆ currentKptVelocityLocal

Eigen::Vector6f currentKptVelocityLocal

Definition at line 55 of file BiKAC.h.

◆ currentKptVelocityRoot

Eigen::Vector6f currentKptVelocityRoot

Definition at line 54 of file BiKAC.h.

◆ idx

int idx

Definition at line 38 of file BiKAC.h.

◆ keypointForceFilter

float keypointForceFilter

Definition at line 68 of file BiKAC.h.

◆ keypointPositionFilter

float keypointPositionFilter

Definition at line 66 of file BiKAC.h.

◆ keypointVelocityFilter

float keypointVelocityFilter

Definition at line 67 of file BiKAC.h.

◆ kptKd

Eigen::Vector3f kptKd

Definition at line 63 of file BiKAC.h.

◆ kptKp

Eigen::Vector3f kptKp

Definition at line 62 of file BiKAC.h.

◆ mpName

std::string mpName

Definition at line 40 of file BiKAC.h.

◆ p2pIdx

int p2pIdx

Definition at line 69 of file BiKAC.h.

◆ pcaComponentsLocal

Eigen::Matrix3f pcaComponentsLocal

Definition at line 49 of file BiKAC.h.

◆ pcaMeanLocal

Eigen::Vector3f pcaMeanLocal

Definition at line 48 of file BiKAC.h.

◆ poseDiffFrameLocal

Eigen::Matrix4f poseDiffFrameLocal

Definition at line 46 of file BiKAC.h.

◆ poseDiffKptLocal

Eigen::Matrix4f poseDiffKptLocal

Definition at line 45 of file BiKAC.h.

◆ priorityFactor

float priorityFactor

Definition at line 65 of file BiKAC.h.

◆ rnsFrame

std::string rnsFrame

Definition at line 43 of file BiKAC.h.

◆ rnsKpt

std::string rnsKpt

Definition at line 42 of file BiKAC.h.

◆ targetKptPoseLocal

Eigen::Matrix4f targetKptPoseLocal

Definition at line 57 of file BiKAC.h.

◆ targetKptPoseRoot

Eigen::Matrix4f targetKptPoseRoot

Definition at line 58 of file BiKAC.h.

◆ trackingForceLocal

Eigen::Vector3f trackingForceLocal

Definition at line 59 of file BiKAC.h.

◆ trackingForceRoot

Eigen::Vector3f trackingForceRoot

Definition at line 60 of file BiKAC.h.

◆ type

std::string type

Definition at line 39 of file BiKAC.h.

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

armarx/control/njoint_mp_controller/task_space/BiKAC.h

Public Attributes