List of all members | Public Member Functions | Public Attributes
CollisionAvoidanceController::CollisionData Struct Reference

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

Public Member Functions

void clearValues ()
 
 CollisionData (unsigned int size)
 

Public Attributes

float damping = -1.0F
 
float desiredNSColl = -1.0F
 
Eigen::Vector3f direction = Eigen::Vector3f::Zero()
 
float distanceVelocity = -1.0F
 
Eigen::MatrixXd jacobian
 
float localStiffness = -1.0F
 
float minDistance = -1.0F
 
unsigned int node1 = 0
 the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation
 
unsigned int node2 = 0
 
Eigen::Vector3f point1 = Eigen::Vector3f::Zero()
 
Eigen::Vector3f point2 = Eigen::Vector3f::Zero()
 
float projectedImpedanceForce = -1.0F
 
Eigen::VectorXf projectedJacT
 
float projectedMass = -1.0F
 
float repulsiveForce = -1.0F
 

Detailed Description

Definition at line 59 of file CollisionAvoidance.h.

Constructor & Destructor Documentation

◆ CollisionData()

CollisionData ( unsigned int size)
inline

Definition at line 83 of file CollisionAvoidance.h.

Member Function Documentation

◆ clearValues()

void clearValues ( )
inline

Definition at line 89 of file CollisionAvoidance.h.

Member Data Documentation

◆ damping

float damping = -1.0F

Definition at line 76 of file CollisionAvoidance.h.

◆ desiredNSColl

float desiredNSColl = -1.0F

Definition at line 78 of file CollisionAvoidance.h.

◆ direction

Eigen::Vector3f direction = Eigen::Vector3f::Zero()

Definition at line 73 of file CollisionAvoidance.h.

◆ distanceVelocity

float distanceVelocity = -1.0F

Definition at line 72 of file CollisionAvoidance.h.

◆ jacobian

Eigen::MatrixXd jacobian

Definition at line 65 of file CollisionAvoidance.h.

◆ localStiffness

float localStiffness = -1.0F

Definition at line 70 of file CollisionAvoidance.h.

◆ minDistance

float minDistance = -1.0F

Definition at line 66 of file CollisionAvoidance.h.

◆ node1

unsigned int node1 = 0

the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation

Definition at line 63 of file CollisionAvoidance.h.

◆ node2

unsigned int node2 = 0

Definition at line 64 of file CollisionAvoidance.h.

◆ point1

Eigen::Vector3f point1 = Eigen::Vector3f::Zero()

Definition at line 74 of file CollisionAvoidance.h.

◆ point2

Eigen::Vector3f point2 = Eigen::Vector3f::Zero()

Definition at line 75 of file CollisionAvoidance.h.

◆ projectedImpedanceForce

float projectedImpedanceForce = -1.0F

Definition at line 81 of file CollisionAvoidance.h.

◆ projectedJacT

Eigen::VectorXf projectedJacT

Definition at line 71 of file CollisionAvoidance.h.

◆ projectedMass

float projectedMass = -1.0F

Definition at line 77 of file CollisionAvoidance.h.

◆ repulsiveForce

float repulsiveForce = -1.0F

Definition at line 69 of file CollisionAvoidance.h.

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