you can set the following values from outside of the rt controller via Ice interfaces More...

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

Inheritance diagram for KeypointsAdmittanceController::Config:

Public Attributes
Eigen::Vector6f	currentForceTorque

Eigen::VectorXf	currentKeypointPosition

Eigen::VectorXf	desiredKeypointPosition

Eigen::VectorXf	desiredKeypointVelocity

Eigen::VectorXf	desiredNullspaceJointAngles

Eigen::VectorXf	fixedTranslation

bool	isRigid = false

Eigen::Vector6f	kdAdmittance

Eigen::Vector6f	kdImpedance

Eigen::VectorXf	kdNullspaceTorque

Eigen::VectorXf	keypointKd

Eigen::VectorXf	keypointKp

float	keypointPositionFilter = 1.0f

float	keypointVelocityFilter = 1.0f

Eigen::Vector6f	kmAdmittance

Eigen::Vector6f	kpAdmittance

Eigen::Vector6f	kpImpedance

Eigen::VectorXf	kpNullspaceTorque

std::string	nodeSetName

int	numPoints
	keypoints related

float	qvelFilter

float	torqueLimit

Detailed Description

you can set the following values from outside of the rt controller via Ice interfaces

Member Data Documentation

◆ currentForceTorque

Eigen::Vector6f currentForceTorque

◆ currentKeypointPosition

Eigen::VectorXf currentKeypointPosition

◆ desiredKeypointPosition

Eigen::VectorXf desiredKeypointPosition

◆ desiredKeypointVelocity

Eigen::VectorXf desiredKeypointVelocity

◆ desiredNullspaceJointAngles

Eigen::VectorXf desiredNullspaceJointAngles

◆ fixedTranslation

Eigen::VectorXf fixedTranslation

◆ isRigid

bool isRigid = false

◆ kdAdmittance

Eigen::Vector6f kdAdmittance

◆ kdImpedance

Eigen::Vector6f kdImpedance

◆ kdNullspaceTorque

Eigen::VectorXf kdNullspaceTorque

◆ keypointKd

Eigen::VectorXf keypointKd

◆ keypointKp

Eigen::VectorXf keypointKp

◆ keypointPositionFilter

float keypointPositionFilter = 1.0f

◆ keypointVelocityFilter

float keypointVelocityFilter = 1.0f

◆ kmAdmittance

Eigen::Vector6f kmAdmittance

◆ kpAdmittance

Eigen::Vector6f kpAdmittance

◆ kpImpedance

Eigen::Vector6f kpImpedance

◆ kpNullspaceTorque

Eigen::VectorXf kpNullspaceTorque

◆ nodeSetName

std::string nodeSetName

◆ numPoints

int numPoints

keypoints related

◆ qvelFilter

float qvelFilter

◆ torqueLimit

float torqueLimit

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

armarx/control/common/control_law/KeypointsAdmittanceController.h

Public Attributes