internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/TaskspaceVelocityController.h>
Inheritance diagram for TaskspaceVelocityController::RtStatus:Public Member Functions | |
| void | reset (const unsigned int nDoF) |
| void | rtPreActivate (const Eigen::Matrix4f ¤tPose) |
Public Attributes | |
| Eigen::Vector6f | cartesianVelTarget |
| task space variables More... | |
| Eigen::Vector6f | currentForceTorque |
| force torque More... | |
| Eigen::Matrix4f | currentPose |
| Eigen::Vector6f | currentTwist |
| Eigen::VectorXf | desiredJointVelocity |
| targets More... | |
| Eigen::Matrix4f | desiredPose |
| Eigen::MatrixXf | jacobi |
| others More... | |
| Eigen::MatrixXf | jpinv |
| Eigen::VectorXf | nullspaceVelocity |
| Eigen::AngleAxisf | oriDiffAngleAxis |
| Eigen::Matrix3f | poseDiffMatImp |
| intermediate results More... | |
| Eigen::Vector6f | poseErrorImp |
| Eigen::VectorXf | qvelFiltered |
| current status More... | |
| bool | rtSafe |
| bool | rtTargetSafe = true |
| Public Attributes inherited from RobotStatus | |
| double | accumulateTime = 0.0 |
| double | deltaT = 0 |
| Eigen::VectorXf | jointPos |
| std::vector< float > | jointPosition |
| Eigen::VectorXf | jointTor |
| std::vector< float > | jointTorque |
| Eigen::VectorXf | jointVel |
| std::vector< float > | jointVelocity |
| unsigned int | numJoints |
Detailed Description
internal status of the controller, containing intermediate variables, mutable targets
Definition at line 45 of file TaskspaceVelocityController.h.
Member Function Documentation
◆ reset()
| void reset | ( | const unsigned int | nDoF | ) |
This function can be called before the RT thread. base
targets
force torque
current status
intermediate results
others
Definition at line 209 of file TaskspaceVelocityController.cpp.
Here is the call graph for this function:◆ rtPreActivate()
| void rtPreActivate | ( | const Eigen::Matrix4f & | currentPose | ) |
!!!! TO BE UPDATED IN PREACTIVATE !!!! only then the up-to-date robot joint information is available
Definition at line 253 of file TaskspaceVelocityController.cpp.
Member Data Documentation
◆ cartesianVelTarget
| Eigen::Vector6f cartesianVelTarget |
task space variables
Definition at line 58 of file TaskspaceVelocityController.h.
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
force torque
Definition at line 54 of file TaskspaceVelocityController.h.
◆ currentPose
| Eigen::Matrix4f currentPose |
Definition at line 64 of file TaskspaceVelocityController.h.
◆ currentTwist
| Eigen::Vector6f currentTwist |
Definition at line 65 of file TaskspaceVelocityController.h.
◆ desiredJointVelocity
| Eigen::VectorXf desiredJointVelocity |
targets
Definition at line 49 of file TaskspaceVelocityController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 66 of file TaskspaceVelocityController.h.
◆ jacobi
| Eigen::MatrixXf jacobi |
others
Definition at line 74 of file TaskspaceVelocityController.h.
◆ jpinv
| Eigen::MatrixXf jpinv |
Definition at line 76 of file TaskspaceVelocityController.h.
◆ nullspaceVelocity
| Eigen::VectorXf nullspaceVelocity |
Definition at line 51 of file TaskspaceVelocityController.h.
◆ oriDiffAngleAxis
| Eigen::AngleAxisf oriDiffAngleAxis |
Definition at line 71 of file TaskspaceVelocityController.h.
◆ poseDiffMatImp
| Eigen::Matrix3f poseDiffMatImp |
intermediate results
Definition at line 69 of file TaskspaceVelocityController.h.
◆ poseErrorImp
| Eigen::Vector6f poseErrorImp |
Definition at line 70 of file TaskspaceVelocityController.h.
◆ qvelFiltered
| Eigen::VectorXf qvelFiltered |
current status
Definition at line 63 of file TaskspaceVelocityController.h.
◆ rtSafe
| bool rtSafe |
Definition at line 77 of file TaskspaceVelocityController.h.
◆ rtTargetSafe
| bool rtTargetSafe = true |
Definition at line 78 of file TaskspaceVelocityController.h.
The documentation for this struct was generated from the following files:
- armarx/control/common/control_law/TaskspaceVelocityController.h
- armarx/control/common/control_law/TaskspaceVelocityController.cpp
