CartesianImpedanceController::Config Struct Reference

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

Public Attributes
Eigen::VectorXf	desiredJointPosition
Eigen::Quaternionf	desiredOrientation
Eigen::Vector3f	desiredPosition
Eigen::VectorXf	Dnull
Eigen::Vector3f	Dori
Eigen::Vector3f	Dpos
Eigen::VectorXf	Knull
Eigen::Vector3f	Kori
Eigen::Vector3f	Kpos
float	torqueLimit

Detailed Description

Definition at line 14 of file CartesianImpedanceController.h.

Member Data Documentation

desiredJointPosition

Eigen::VectorXf desiredJointPosition

Definition at line 24 of file CartesianImpedanceController.h.

desiredOrientation

Eigen::Quaternionf desiredOrientation

Definition at line 17 of file CartesianImpedanceController.h.

desiredPosition

Eigen::Vector3f desiredPosition

Definition at line 16 of file CartesianImpedanceController.h.

Dnull

Eigen::VectorXf Dnull

Definition at line 23 of file CartesianImpedanceController.h.

Dori

Eigen::Vector3f Dori

Definition at line 21 of file CartesianImpedanceController.h.

Dpos

Eigen::Vector3f Dpos

Definition at line 19 of file CartesianImpedanceController.h.

Knull

Eigen::VectorXf Knull

Definition at line 22 of file CartesianImpedanceController.h.

Kori

Eigen::Vector3f Kori

Definition at line 20 of file CartesianImpedanceController.h.

Kpos

Eigen::Vector3f Kpos

Definition at line 18 of file CartesianImpedanceController.h.

torqueLimit

float torqueLimit

Definition at line 25 of file CartesianImpedanceController.h.

---

The documentation for this struct was generated from the following file:

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