CartesianImpedanceController Class Reference

#include <RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.h>

Classes
struct	Config
struct	Debug

Public Member Functions
int	bufferSize () const
void	initialize (const VirtualRobot::RobotNodeSetPtr &rns)
const Eigen::VectorXf &	run (const Config &cfg, std::vector< const SensorValue1DoFActuatorTorque * > torqueSensors, std::vector< const SensorValue1DoFActuatorVelocity * > velocitySensors, std::vector< const SensorValue1DoFActuatorPosition * > positionSensors)

Public Attributes
Debug	dbg

Member Function Documentation

bufferSize()

int bufferSize

(

)

const

initialize()

void initialize

(

const VirtualRobot::RobotNodeSetPtr &

rns

)

run()

const Eigen::VectorXf & run	(	const Config &	cfg,
		std::vector< const SensorValue1DoFActuatorTorque * >	torqueSensors,
		std::vector< const SensorValue1DoFActuatorVelocity * >	velocitySensors,
		std::vector< const SensorValue1DoFActuatorPosition * >	positionSensors )

TODO move this to core

TODO output param version

TODO output param version

Member Data Documentation

dbg

Debug dbg

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The documentation for this class was generated from the following files:

• RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.h
• RobotAPI/components/units/RobotUnit/ControllerParts/CartesianImpedanceController.cpp