namespace armarx::control::common::ft More...

Classes
struct	ControlTarget

class	KeypointsAdmittanceController

class	KeypointsImpedanceController

struct	RobotStatus

class	TaskspaceAdmittanceController

class	TaskspaceImpedanceController

struct	VirtualRobotStatus

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)

void	fromAron (const arondto::KeypointControllerConfig &dto, KeypointsImpedanceController::Config &bo)

void	fromAron (const arondto::TaskspaceAdmittanceControllerConfig &dto, TaskspaceAdmittanceController::Config &bo)

void	fromAron (const arondto::TaskspaceImpedanceControllerConfig &dto, TaskspaceImpedanceController::Config &bo)
	TaskspaceImpedanceController dto: data transfer object? bo: business object? what is the full name? More...

Detailed Description

namespace armarx::control::common::ft

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

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 50 of file common.h.

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◆ fromAron() [1/3]

void fromAron	(	const arondto::KeypointControllerConfig &	dto,
		KeypointsImpedanceController::Config &	bo
	)

Definition at line 104 of file aron_conversions.cpp.

◆ fromAron() [2/3]

void fromAron	(	const arondto::TaskspaceAdmittanceControllerConfig &	dto,
		TaskspaceAdmittanceController::Config &	bo
	)

Definition at line 82 of file aron_conversions.cpp.

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◆ fromAron() [3/3]

void fromAron	(	const arondto::TaskspaceImpedanceControllerConfig &	dto,
		TaskspaceImpedanceController::Config &	bo
	)

TaskspaceImpedanceController dto: data transfer object? bo: business object? what is the full name?

Definition at line 65 of file aron_conversions.cpp.