KeypointsImpedanceController::NonRtStatus Struct Reference

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

Public Attributes
Eigen::VectorXf	currentKeypointPosition
Eigen::VectorXf	currentKeypointVelocity
Eigen::Matrix4f	currentPose
	task space variables More...
Eigen::Vector6f	currentTwist
Eigen::Vector6f	desiredAcc
Eigen::VectorXf	desiredDensityForce
Eigen::VectorXf	desiredKeypointPosition
Eigen::VectorXf	desiredKeypointVelocity
Eigen::Matrix4f	desiredPose
Eigen::Vector6f	desiredVel
Eigen::VectorXf	filteredKeypointPosition
Eigen::MatrixXf	jacobi
	others More...
Eigen::MatrixXf	jtpinv
Eigen::Vector6f	pointTrackingForce
	keypoint status More...
Eigen::VectorXf	previousKeypointPosition
Eigen::VectorXf	qpos
	joint space variable More...
Eigen::VectorXf	qvel

Detailed Description

Definition at line 88 of file KeypointsImpedanceController.h.

Member Data Documentation

currentKeypointPosition

Eigen::VectorXf currentKeypointPosition

Definition at line 111 of file KeypointsImpedanceController.h.

currentKeypointVelocity

Eigen::VectorXf currentKeypointVelocity

Definition at line 112 of file KeypointsImpedanceController.h.

currentPose

Eigen::Matrix4f currentPose

task space variables

Definition at line 95 of file KeypointsImpedanceController.h.

currentTwist

Eigen::Vector6f currentTwist

Definition at line 96 of file KeypointsImpedanceController.h.

desiredAcc

Eigen::Vector6f desiredAcc

Definition at line 100 of file KeypointsImpedanceController.h.

desiredDensityForce

Eigen::VectorXf desiredDensityForce

Definition at line 116 of file KeypointsImpedanceController.h.

desiredKeypointPosition

Eigen::VectorXf desiredKeypointPosition

Definition at line 114 of file KeypointsImpedanceController.h.

desiredKeypointVelocity

Eigen::VectorXf desiredKeypointVelocity

Definition at line 115 of file KeypointsImpedanceController.h.

desiredPose

Eigen::Matrix4f desiredPose

Definition at line 98 of file KeypointsImpedanceController.h.

desiredVel

Eigen::Vector6f desiredVel

Definition at line 99 of file KeypointsImpedanceController.h.

filteredKeypointPosition

Eigen::VectorXf filteredKeypointPosition

Definition at line 108 of file KeypointsImpedanceController.h.

jacobi

Eigen::MatrixXf jacobi

others

Definition at line 103 of file KeypointsImpedanceController.h.

jtpinv

Eigen::MatrixXf jtpinv

Definition at line 104 of file KeypointsImpedanceController.h.

pointTrackingForce

Eigen::Vector6f pointTrackingForce

keypoint status

Definition at line 107 of file KeypointsImpedanceController.h.

previousKeypointPosition

Eigen::VectorXf previousKeypointPosition

Definition at line 109 of file KeypointsImpedanceController.h.

qpos

Eigen::VectorXf qpos

joint space variable

Definition at line 91 of file KeypointsImpedanceController.h.

qvel

Eigen::VectorXf qvel

Definition at line 92 of file KeypointsImpedanceController.h.

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

• armarx/control/common/control_law/KeypointsImpedanceController.h