you can set the following values from outside of the rt controller via Ice interfaces More...
#include <armarx/control/common/control_law/KeypointsAdmittanceController.h>
Inheritance diagram for KeypointsAdmittanceController::Config:Public Attributes | |
| Eigen::Vector6f | currentForceTorque |
| Eigen::VectorXf | currentKeypointPosition |
| Eigen::VectorXf | desiredKeypointPosition |
| Eigen::VectorXf | desiredKeypointVelocity |
| Eigen::VectorXf | desiredNullspaceJointAngles |
| Eigen::VectorXf | fixedTranslation |
| bool | isRigid = false |
| Eigen::Vector6f | kdAdmittance |
| Eigen::Vector6f | kdImpedance |
| Eigen::VectorXf | kdNullspace |
| Eigen::VectorXf | keypointKd |
| Eigen::VectorXf | keypointKp |
| float | keypointPositionFilter = 1.0f |
| float | keypointVelocityFilter = 1.0f |
| Eigen::Vector6f | kmAdmittance |
| Eigen::Vector6f | kpAdmittance |
| Eigen::Vector6f | kpImpedance |
| Eigen::VectorXf | kpNullspace |
| std::string | nodeSetName |
| int | numPoints |
| keypoints related More... | |
| float | qvelFilter |
| float | torqueLimit |
Detailed Description
you can set the following values from outside of the rt controller via Ice interfaces
Definition at line 37 of file KeypointsAdmittanceController.h.
Member Data Documentation
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
Definition at line 51 of file KeypointsAdmittanceController.h.
◆ currentKeypointPosition
| Eigen::VectorXf currentKeypointPosition |
Definition at line 62 of file KeypointsAdmittanceController.h.
◆ desiredKeypointPosition
| Eigen::VectorXf desiredKeypointPosition |
Definition at line 63 of file KeypointsAdmittanceController.h.
◆ desiredKeypointVelocity
| Eigen::VectorXf desiredKeypointVelocity |
Definition at line 64 of file KeypointsAdmittanceController.h.
◆ desiredNullspaceJointAngles
| Eigen::VectorXf desiredNullspaceJointAngles |
Definition at line 52 of file KeypointsAdmittanceController.h.
◆ fixedTranslation
| Eigen::VectorXf fixedTranslation |
Definition at line 69 of file KeypointsAdmittanceController.h.
◆ isRigid
| bool isRigid = false |
Definition at line 68 of file KeypointsAdmittanceController.h.
◆ kdAdmittance
| Eigen::Vector6f kdAdmittance |
Definition at line 45 of file KeypointsAdmittanceController.h.
◆ kdImpedance
| Eigen::Vector6f kdImpedance |
Definition at line 42 of file KeypointsAdmittanceController.h.
◆ kdNullspace
| Eigen::VectorXf kdNullspace |
Definition at line 49 of file KeypointsAdmittanceController.h.
◆ keypointKd
| Eigen::VectorXf keypointKd |
Definition at line 60 of file KeypointsAdmittanceController.h.
◆ keypointKp
| Eigen::VectorXf keypointKp |
Definition at line 59 of file KeypointsAdmittanceController.h.
◆ keypointPositionFilter
| float keypointPositionFilter = 1.0f |
Definition at line 65 of file KeypointsAdmittanceController.h.
◆ keypointVelocityFilter
| float keypointVelocityFilter = 1.0f |
Definition at line 66 of file KeypointsAdmittanceController.h.
◆ kmAdmittance
| Eigen::Vector6f kmAdmittance |
Definition at line 46 of file KeypointsAdmittanceController.h.
◆ kpAdmittance
| Eigen::Vector6f kpAdmittance |
Definition at line 44 of file KeypointsAdmittanceController.h.
◆ kpImpedance
| Eigen::Vector6f kpImpedance |
Definition at line 41 of file KeypointsAdmittanceController.h.
◆ kpNullspace
| Eigen::VectorXf kpNullspace |
Definition at line 48 of file KeypointsAdmittanceController.h.
◆ nodeSetName
| std::string nodeSetName |
Definition at line 39 of file KeypointsAdmittanceController.h.
◆ numPoints
| int numPoints |
keypoints related
Definition at line 58 of file KeypointsAdmittanceController.h.
◆ qvelFilter
| float qvelFilter |
Definition at line 55 of file KeypointsAdmittanceController.h.
◆ torqueLimit
| float torqueLimit |
Definition at line 54 of file KeypointsAdmittanceController.h.
The documentation for this struct was generated from the following file:
- armarx/control/common/control_law/KeypointsAdmittanceController.h
