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KeypointsImpedanceController::RtStatus Struct Reference

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

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

Public Attributes

Eigen::VectorXf desiredJointTorques
 targets
 
Eigen::Matrix4f desiredPose
 
Eigen::Vector6f desiredTwist
 
Eigen::Vector6f forceImpedance
 task space variables
 
Eigen::VectorXf nullspaceTorque
 

Detailed Description

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

Member Data Documentation

◆ desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

◆ desiredPose

Eigen::Matrix4f desiredPose

◆ desiredTwist

Eigen::Vector6f desiredTwist

◆ forceImpedance

Eigen::Vector6f forceImpedance

task space variables

◆ nullspaceTorque

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