KeypointsImpedanceController::RtStatus Struct Reference

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

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

Public Attributes
Eigen::VectorXf	desiredJointTorques
	targets More...
Eigen::Matrix4f	desiredPose
Eigen::Vector6f	desiredTwist
Eigen::Vector6f	forceImpedance
	task space variables More...
Eigen::VectorXf	nullspaceTorque

Detailed Description

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

Definition at line 75 of file KeypointsImpedanceController.h.

Member Data Documentation

desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 78 of file KeypointsImpedanceController.h.

desiredPose

Eigen::Matrix4f desiredPose

Definition at line 80 of file KeypointsImpedanceController.h.

desiredTwist

Eigen::Vector6f desiredTwist

Definition at line 81 of file KeypointsImpedanceController.h.

forceImpedance

Eigen::Vector6f forceImpedance

task space variables

Definition at line 84 of file KeypointsImpedanceController.h.

nullspaceTorque

Eigen::VectorXf nullspaceTorque

Definition at line 85 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