Classes | Functions
armarx::control::common::control_law Namespace Reference

This file is part of ArmarX. More...

Classes

struct  ControlTarget
 
class  KeypointsAdmittanceController
 
class  KeypointsImpedanceController
 
struct  RobotStatus
 
class  TaskspaceAdmittanceController
 
class  TaskspaceImpedanceController
 
class  TaskspaceMixedImpedanceVelocityController
 
struct  VirtualRobotStatus
 
class  ZeroTorqueOrVelocityController
 

Functions

Eigen::MatrixXf computeJointLimitWeightMatrix (const Eigen::Ref< const Eigen::VectorXf > &jointAngles, const Eigen::Ref< const Eigen::VectorXf > &jointLimitsLow, const Eigen::Ref< const Eigen::VectorXf > &jointLimitsHigh, Eigen::VectorXf &jointAngleLimitGradient)
 

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author
Jianfeng Gao ( jianfeng dot gao at kit dot edu )
Date
2022
Copyright
http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author
Jianfeng Gao ( jianfeng dot gao at kit dot edu )
Date
2021
Copyright
http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author
Jianfeng Gao ( jianfeng dot gao at kit dot edu )
Date
2024
Copyright
http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Function Documentation

◆ computeJointLimitWeightMatrix()

Eigen::MatrixXf armarx::control::common::control_law::computeJointLimitWeightMatrix ( const Eigen::Ref< const Eigen::VectorXf > &  jointAngles,
const Eigen::Ref< const Eigen::VectorXf > &  jointLimitsLow,
const Eigen::Ref< const Eigen::VectorXf > &  jointLimitsHigh,
Eigen::VectorXf &  jointAngleLimitGradient 
)
inline

Definition at line 53 of file common.h.

+ Here is the call graph for this function: