you can set the following values from outside of the rt controller via Ice interfaces More...
#include <armarx/control/common/control_law/KeypointsImpedanceController.h>
Inheritance diagram for KeypointsImpedanceController::Config:Public Attributes | |
| float | densityForceScaling = 1.0 |
| std::optional< 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 | kpImpedance |
| Eigen::VectorXf | kpNullspace |
| 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 41 of file KeypointsImpedanceController.h.
Member Data Documentation
◆ densityForceScaling
| float densityForceScaling = 1.0 |
Definition at line 63 of file KeypointsImpedanceController.h.
◆ desiredNullspaceJointAngles
| std::optional<Eigen::VectorXf> desiredNullspaceJointAngles |
Definition at line 53 of file KeypointsImpedanceController.h.
◆ fixedTranslation
| Eigen::VectorXf fixedTranslation |
Definition at line 62 of file KeypointsImpedanceController.h.
◆ isRigid
| bool isRigid = false |
Definition at line 71 of file KeypointsImpedanceController.h.
◆ kdAdmittance
| Eigen::Vector6f kdAdmittance |
Definition at line 47 of file KeypointsImpedanceController.h.
◆ kdImpedance
| Eigen::Vector6f kdImpedance |
Definition at line 44 of file KeypointsImpedanceController.h.
◆ kdNullspace
| Eigen::VectorXf kdNullspace |
Definition at line 51 of file KeypointsImpedanceController.h.
◆ keypointKd
| Eigen::VectorXf keypointKd |
Definition at line 61 of file KeypointsImpedanceController.h.
◆ keypointKp
| Eigen::VectorXf keypointKp |
Definition at line 60 of file KeypointsImpedanceController.h.
◆ keypointPositionFilter
| float keypointPositionFilter = 1.0f |
Definition at line 68 of file KeypointsImpedanceController.h.
◆ keypointVelocityFilter
| float keypointVelocityFilter = 1.0f |
Definition at line 69 of file KeypointsImpedanceController.h.
◆ kmAdmittance
| Eigen::Vector6f kmAdmittance |
Definition at line 48 of file KeypointsImpedanceController.h.
◆ kpImpedance
| Eigen::Vector6f kpImpedance |
Definition at line 43 of file KeypointsImpedanceController.h.
◆ kpNullspace
| Eigen::VectorXf kpNullspace |
Definition at line 50 of file KeypointsImpedanceController.h.
◆ numPoints
| int numPoints |
keypoints related
Definition at line 59 of file KeypointsImpedanceController.h.
◆ qvelFilter
| float qvelFilter |
Definition at line 56 of file KeypointsImpedanceController.h.
◆ torqueLimit
| float torqueLimit |
Definition at line 55 of file KeypointsImpedanceController.h.
The documentation for this struct was generated from the following file:
- armarx/control/common/control_law/KeypointsImpedanceController.h
