List of all members | Public Attributes
KeypointsAdmittanceController::Status Struct Reference

internal status of the controller, containing intermediate variables, mutable targets More...

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

+ Inheritance diagram for KeypointsAdmittanceController::Status:

Public Attributes

Eigen::VectorXf currentKeypointVelocity
 
Eigen::Matrix4f currentPose
 
Eigen::Vector6f currentTwist
 
double deltaT
 
Eigen::Vector6f desiredAcc
 
Eigen::VectorXf desiredJointTorques
 
Eigen::Matrix4f desiredPose
 
Eigen::Vector6f desiredVel
 
Eigen::VectorXf filteredKeypointPosition
 
Eigen::Vector6f forceImpedance
 
Eigen::MatrixXf jacobi
 others More...
 
Eigen::VectorXf nullspaceTorque
 
Eigen::Vector6f pointTrackingForce
 
Eigen::Matrix4f previousDesiredPose
 task spaace variables More...
 
Eigen::VectorXf previousKeypointPosition
 
Eigen::VectorXf qpos
 joint space variable More...
 
Eigen::VectorXf qvel
 
Eigen::Vector6f virtualAcc
 
Eigen::Matrix4f virtualPose
 
Eigen::Vector6f virtualVel
 
- Public Attributes inherited from KeypointsAdmittanceController::Config
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

internal status of the controller, containing intermediate variables, mutable targets

Definition at line 73 of file KeypointsAdmittanceController.h.

Member Data Documentation

◆ currentKeypointVelocity

Eigen::VectorXf currentKeypointVelocity

Definition at line 99 of file KeypointsAdmittanceController.h.

◆ currentPose

Eigen::Matrix4f currentPose

Definition at line 88 of file KeypointsAdmittanceController.h.

◆ currentTwist

Eigen::Vector6f currentTwist

Definition at line 89 of file KeypointsAdmittanceController.h.

◆ deltaT

double deltaT

Definition at line 103 of file KeypointsAdmittanceController.h.

◆ desiredAcc

Eigen::Vector6f desiredAcc

Definition at line 86 of file KeypointsAdmittanceController.h.

◆ desiredJointTorques

Eigen::VectorXf desiredJointTorques

Definition at line 80 of file KeypointsAdmittanceController.h.

◆ desiredPose

Eigen::Matrix4f desiredPose

Definition at line 84 of file KeypointsAdmittanceController.h.

◆ desiredVel

Eigen::Vector6f desiredVel

Definition at line 85 of file KeypointsAdmittanceController.h.

◆ filteredKeypointPosition

Eigen::VectorXf filteredKeypointPosition

Definition at line 97 of file KeypointsAdmittanceController.h.

◆ forceImpedance

Eigen::Vector6f forceImpedance

Definition at line 90 of file KeypointsAdmittanceController.h.

◆ jacobi

Eigen::MatrixXf jacobi

others

Definition at line 102 of file KeypointsAdmittanceController.h.

◆ nullspaceTorque

Eigen::VectorXf nullspaceTorque

Definition at line 79 of file KeypointsAdmittanceController.h.

◆ pointTrackingForce

Eigen::Vector6f pointTrackingForce

Definition at line 96 of file KeypointsAdmittanceController.h.

◆ previousDesiredPose

Eigen::Matrix4f previousDesiredPose

task spaace variables

Definition at line 83 of file KeypointsAdmittanceController.h.

◆ previousKeypointPosition

Eigen::VectorXf previousKeypointPosition

Definition at line 98 of file KeypointsAdmittanceController.h.

◆ qpos

Eigen::VectorXf qpos

joint space variable

Definition at line 76 of file KeypointsAdmittanceController.h.

◆ qvel

Eigen::VectorXf qvel

Definition at line 77 of file KeypointsAdmittanceController.h.

◆ virtualAcc

Eigen::Vector6f virtualAcc

Definition at line 94 of file KeypointsAdmittanceController.h.

◆ virtualPose

Eigen::Matrix4f virtualPose

Definition at line 92 of file KeypointsAdmittanceController.h.

◆ virtualVel

Eigen::Vector6f virtualVel

Definition at line 93 of file KeypointsAdmittanceController.h.

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