armarx::NJointTaskSpaceImpedanceControlConfig

Overview

class NJointTaskSpaceImpedanceControlConfig extends NJointControllerConfig

Data Member Index

nodeSetName

desiredPosition

desiredOrientation

Kpos

Kori

Dpos

Dori

desiredJointPositions

Knull

Dnull

torqueLimit

Data Members

string nodeSetName;

::Eigen::Vector3f desiredPosition;

::Eigen::Quaternionf desiredOrientation;

::Eigen::Vector3f Kpos;

::Eigen::Vector3f Kori;

::Eigen::Vector3f Dpos;

::Eigen::Vector3f Dori;

::Eigen::VectorXf desiredJointPositions;

::Eigen::VectorXf Knull;

::Eigen::VectorXf Dnull;

float torqueLimit;