List of all members | Public Member Functions | Public Attributes
CollisionAvoidanceController::SelfCollisionData Struct Reference

#include <armarx/control/common/control_law/CollisionAvoidance.h>

Public Member Functions

void clearValues ()
 
 SelfCollisionData (int size)
 
void setCalcValues (const Eigen::MatrixXf &jacobian, float repulsiveForce, float localStiffness, const Eigen::VectorXf &projectedJacT, float distanceVelocity, const Eigen::Vector3f &direction, const Eigen::Vector3f &point, float damping, float projectedMass, float desiredNSColl)
 
void setDistValues (std::string nodeName, std::string otherName, float minDistance)
 

Public Attributes

float damping = -1.0f
 
float desiredNSColl = -1.0f
 
Eigen::Vector3f direction = Eigen::Vector3f::Zero()
 
float distanceVelocity = -1.0f
 
Eigen::MatrixXf jacobian
 
float localStiffness = -1.0f
 
float minDistance = -1.0f
 
std::string nodeName = ""
 the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation More...
 
std::string otherName = ""
 
Eigen::Vector3f point = Eigen::Vector3f::Zero()
 
float projectedImpedanceForce = -1.0f
 
Eigen::VectorXf projectedJacT
 
float projectedMass = -1.0f
 
float repulsiveForce = -1.0f
 

Detailed Description

Definition at line 68 of file CollisionAvoidance.h.

Constructor & Destructor Documentation

◆ SelfCollisionData()

SelfCollisionData ( int  size)
inline

Definition at line 91 of file CollisionAvoidance.h.

Member Function Documentation

◆ clearValues()

void clearValues ( )
inline

Definition at line 98 of file CollisionAvoidance.h.

◆ setCalcValues()

void setCalcValues ( const Eigen::MatrixXf &  jacobian,
float  repulsiveForce,
float  localStiffness,
const Eigen::VectorXf &  projectedJacT,
float  distanceVelocity,
const Eigen::Vector3f &  direction,
const Eigen::Vector3f &  point,
float  damping,
float  projectedMass,
float  desiredNSColl 
)
inline

Definition at line 125 of file CollisionAvoidance.h.

◆ setDistValues()

void setDistValues ( std::string  nodeName,
std::string  otherName,
float  minDistance 
)
inline

Definition at line 117 of file CollisionAvoidance.h.

Member Data Documentation

◆ damping

float damping = -1.0f

Definition at line 84 of file CollisionAvoidance.h.

◆ desiredNSColl

float desiredNSColl = -1.0f

Definition at line 86 of file CollisionAvoidance.h.

◆ direction

Eigen::Vector3f direction = Eigen::Vector3f::Zero()

Definition at line 82 of file CollisionAvoidance.h.

◆ distanceVelocity

float distanceVelocity = -1.0f

Definition at line 81 of file CollisionAvoidance.h.

◆ jacobian

Eigen::MatrixXf jacobian

Definition at line 74 of file CollisionAvoidance.h.

◆ localStiffness

float localStiffness = -1.0f

Definition at line 79 of file CollisionAvoidance.h.

◆ minDistance

float minDistance = -1.0f

Definition at line 75 of file CollisionAvoidance.h.

◆ nodeName

std::string nodeName = ""

the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation

Definition at line 72 of file CollisionAvoidance.h.

◆ otherName

std::string otherName = ""

Definition at line 73 of file CollisionAvoidance.h.

◆ point

Eigen::Vector3f point = Eigen::Vector3f::Zero()

Definition at line 83 of file CollisionAvoidance.h.

◆ projectedImpedanceForce

float projectedImpedanceForce = -1.0f

Definition at line 89 of file CollisionAvoidance.h.

◆ projectedJacT

Eigen::VectorXf projectedJacT

Definition at line 80 of file CollisionAvoidance.h.

◆ projectedMass

float projectedMass = -1.0f

Definition at line 85 of file CollisionAvoidance.h.

◆ repulsiveForce

float repulsiveForce = -1.0f

Definition at line 78 of file CollisionAvoidance.h.

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