SensorDevicesForNJointTorqueController Struct Reference

#include <armarx/control/common/device.h>

Public Member Functions
void	append (const SensorValueBase *sv, const std::string &jointName)
void	getJointAngles (Eigen::VectorXf &qpos)
void	updateJointValues (Eigen::VectorXf &qpos, Eigen::VectorXf &qvel, Eigen::VectorXf &qtor)

Public Attributes
std::vector< const SensorValue1DoFActuatorPosition * >	positionSensors
std::vector< const SensorValue1DoFActuatorTorque * >	torqueSensors
std::vector< const SensorValue1DoFActuatorVelocity * >	velocitySensors

Member Function Documentation

append()

void append ( const SensorValueBase * sv, const std::string & jointName )

inline

getJointAngles()

void getJointAngles ( Eigen::VectorXf & qpos )

inline

updateJointValues()

void updateJointValues ( Eigen::VectorXf & qpos, Eigen::VectorXf & qvel, Eigen::VectorXf & qtor )

inline

Member Data Documentation

positionSensors

std::vector<const SensorValue1DoFActuatorPosition*> positionSensors

torqueSensors

std::vector<const SensorValue1DoFActuatorTorque*> torqueSensors

velocitySensors

std::vector<const SensorValue1DoFActuatorVelocity*> velocitySensors

---

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

• armarx/control/common/device.h