internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/TaskspaceMixedImpedanceVelocityController.h>
Inheritance diagram for TaskspaceMixedImpedanceVelocityController::RtStatus:Public Member Functions | |
| void | reset (const unsigned int nDoF, const size_t numDoFTorque, const size_t numDoFVelocity) |
| void | rtPreActivate (const Eigen::Matrix4f ¤tPose) |
Public Attributes | |
| Eigen::Vector6f | cartesianVelTarget |
| Eigen::Vector6f | currentForceTorque |
| force torque More... | |
| Eigen::Matrix4f | currentPose |
| Eigen::Vector6f | currentTwist |
| Eigen::VectorXf | desiredJointTorques |
| targets More... | |
| Eigen::VectorXf | desiredJointVelocity |
| Eigen::Matrix4f | desiredPose |
| Eigen::Matrix4f | desiredPoseUnsafe |
| Eigen::Vector6f | forceImpedance |
| task space variables More... | |
| bool | forceTorqueSafe = true |
| Eigen::MatrixXf | jacobi |
| others More... | |
| Eigen::MatrixXf | jpinv |
| Eigen::MatrixXf | jtpinv |
| size_t | nDoFTorque |
| size_t | nDoFVelocity |
| Eigen::VectorXf | nullspaceTorque |
| 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 |
| Eigen::Vector6f | safeFTGuardOffset |
| 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 46 of file TaskspaceMixedImpedanceVelocityController.h.
Member Function Documentation
◆ reset()
| void reset | ( | const unsigned int | nDoF, |
| const size_t | numDoFTorque, | ||
| const size_t | numDoFVelocity | ||
| ) |
This function can be called before the RT thread. base
targets
force torque
task space variables
current status
intermediate results
others
Definition at line 265 of file TaskspaceMixedImpedanceVelocityController.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 319 of file TaskspaceMixedImpedanceVelocityController.cpp.
Member Data Documentation
◆ cartesianVelTarget
| Eigen::Vector6f cartesianVelTarget |
Definition at line 61 of file TaskspaceMixedImpedanceVelocityController.h.
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
force torque
Definition at line 55 of file TaskspaceMixedImpedanceVelocityController.h.
◆ currentPose
| Eigen::Matrix4f currentPose |
Definition at line 67 of file TaskspaceMixedImpedanceVelocityController.h.
◆ currentTwist
| Eigen::Vector6f currentTwist |
Definition at line 68 of file TaskspaceMixedImpedanceVelocityController.h.
◆ desiredJointTorques
| Eigen::VectorXf desiredJointTorques |
targets
Definition at line 49 of file TaskspaceMixedImpedanceVelocityController.h.
◆ desiredJointVelocity
| Eigen::VectorXf desiredJointVelocity |
Definition at line 50 of file TaskspaceMixedImpedanceVelocityController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 69 of file TaskspaceMixedImpedanceVelocityController.h.
◆ desiredPoseUnsafe
| Eigen::Matrix4f desiredPoseUnsafe |
Definition at line 70 of file TaskspaceMixedImpedanceVelocityController.h.
◆ forceImpedance
| Eigen::Vector6f forceImpedance |
task space variables
Definition at line 60 of file TaskspaceMixedImpedanceVelocityController.h.
◆ forceTorqueSafe
| bool forceTorqueSafe = true |
Definition at line 57 of file TaskspaceMixedImpedanceVelocityController.h.
◆ jacobi
| Eigen::MatrixXf jacobi |
others
Definition at line 78 of file TaskspaceMixedImpedanceVelocityController.h.
◆ jpinv
| Eigen::MatrixXf jpinv |
Definition at line 80 of file TaskspaceMixedImpedanceVelocityController.h.
◆ jtpinv
| Eigen::MatrixXf jtpinv |
Definition at line 79 of file TaskspaceMixedImpedanceVelocityController.h.
◆ nDoFTorque
| size_t nDoFTorque |
Definition at line 84 of file TaskspaceMixedImpedanceVelocityController.h.
◆ nDoFVelocity
| size_t nDoFVelocity |
Definition at line 85 of file TaskspaceMixedImpedanceVelocityController.h.
◆ nullspaceTorque
| Eigen::VectorXf nullspaceTorque |
Definition at line 51 of file TaskspaceMixedImpedanceVelocityController.h.
◆ nullspaceVelocity
| Eigen::VectorXf nullspaceVelocity |
Definition at line 52 of file TaskspaceMixedImpedanceVelocityController.h.
◆ oriDiffAngleAxis
| Eigen::AngleAxisf oriDiffAngleAxis |
Definition at line 75 of file TaskspaceMixedImpedanceVelocityController.h.
◆ poseDiffMatImp
| Eigen::Matrix3f poseDiffMatImp |
intermediate results
Definition at line 73 of file TaskspaceMixedImpedanceVelocityController.h.
◆ poseErrorImp
| Eigen::Vector6f poseErrorImp |
Definition at line 74 of file TaskspaceMixedImpedanceVelocityController.h.
◆ qvelFiltered
| Eigen::VectorXf qvelFiltered |
current status
Definition at line 66 of file TaskspaceMixedImpedanceVelocityController.h.
◆ rtSafe
| bool rtSafe |
Definition at line 81 of file TaskspaceMixedImpedanceVelocityController.h.
◆ rtTargetSafe
| bool rtTargetSafe = true |
Definition at line 82 of file TaskspaceMixedImpedanceVelocityController.h.
◆ safeFTGuardOffset
| Eigen::Vector6f safeFTGuardOffset |
Definition at line 56 of file TaskspaceMixedImpedanceVelocityController.h.
The documentation for this struct was generated from the following files:
- armarx/control/common/control_law/TaskspaceMixedImpedanceVelocityController.h
- armarx/control/common/control_law/TaskspaceMixedImpedanceVelocityController.cpp
