internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/SafetyTaskspaceImpedanceController.h>
Inheritance diagram for SafetyTaskspaceImpedanceController::RtStatus:Classes | |
| struct | jointRangeBufferZoneData |
| joint limit avoidance initialization parameters More... | |
| struct | selfCollisionData |
Detailed Description
internal status of the controller, containing intermediate variables, mutable targets
Definition at line 58 of file SafetyTaskspaceImpedanceController.h.
Member Data Documentation
◆ activeCollPairsNum
| int activeCollPairsNum |
Definition at line 310 of file SafetyTaskspaceImpedanceController.h.
◆ activeDistPair
| simox::control::environment::DistanceResult activeDistPair |
Definition at line 223 of file SafetyTaskspaceImpedanceController.h.
◆ collisionPairsNum
| int collisionPairsNum |
collision pair info
Definition at line 309 of file SafetyTaskspaceImpedanceController.h.
◆ collisionPairTime
| double collisionPairTime |
time status
Definition at line 301 of file SafetyTaskspaceImpedanceController.h.
◆ collisionTorqueTime
| double collisionTorqueTime |
Definition at line 303 of file SafetyTaskspaceImpedanceController.h.
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
force torque
Definition at line 66 of file SafetyTaskspaceImpedanceController.h.
◆ currentPose
| Eigen::Matrix4f currentPose |
Definition at line 77 of file SafetyTaskspaceImpedanceController.h.
◆ currentTwist
| Eigen::Vector6f currentTwist |
Definition at line 78 of file SafetyTaskspaceImpedanceController.h.
◆ dampingJointLim
| float dampingJointLim |
Definition at line 288 of file SafetyTaskspaceImpedanceController.h.
◆ desiredJointTorques
| Eigen::VectorXf desiredJointTorques |
targets
Definition at line 61 of file SafetyTaskspaceImpedanceController.h.
◆ desiredNullSpace
| float desiredNullSpace |
Definition at line 111 of file SafetyTaskspaceImpedanceController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 79 of file SafetyTaskspaceImpedanceController.h.
◆ dirErrorImp
| Eigen::Vector3f dirErrorImp |
Definition at line 86 of file SafetyTaskspaceImpedanceController.h.
◆ evalData
| std::vector<selfCollisionData> evalData |
Definition at line 224 of file SafetyTaskspaceImpedanceController.h.
◆ evalDataIndex
| int evalDataIndex |
Definition at line 225 of file SafetyTaskspaceImpedanceController.h.
◆ forceImpedance
| Eigen::Vector6f forceImpedance |
task space variables
Definition at line 69 of file SafetyTaskspaceImpedanceController.h.
◆ getActuatedJointValues
| Eigen::VectorXd getActuatedJointValues |
Definition at line 321 of file SafetyTaskspaceImpedanceController.h.
◆ impedanceJointTorque
| Eigen::VectorXf impedanceJointTorque |
intermediate torque results
Definition at line 92 of file SafetyTaskspaceImpedanceController.h.
◆ impForceRatio
| float impForceRatio |
Definition at line 106 of file SafetyTaskspaceImpedanceController.h.
◆ impTorqueRatio
| float impTorqueRatio |
Definition at line 105 of file SafetyTaskspaceImpedanceController.h.
◆ inertia
| Eigen::MatrixXf inertia |
Definition at line 296 of file SafetyTaskspaceImpedanceController.h.
◆ inertiaInverse
| Eigen::MatrixXf inertiaInverse |
Definition at line 297 of file SafetyTaskspaceImpedanceController.h.
◆ jacobi
| Eigen::MatrixXf jacobi |
others
Definition at line 294 of file SafetyTaskspaceImpedanceController.h.
◆ jointDampingTorque
| Eigen::VectorXf jointDampingTorque |
Definition at line 63 of file SafetyTaskspaceImpedanceController.h.
◆ jointInertia
| float jointInertia |
Definition at line 285 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimitData
| std::vector<jointRangeBufferZoneData> jointLimitData |
Definition at line 281 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimitJointTorque
| Eigen::VectorXf jointLimitJointTorque |
Definition at line 95 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimitNullspaceTime
| double jointLimitNullspaceTime |
Definition at line 306 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimitTorqueFiltered
| Eigen::VectorXf jointLimitTorqueFiltered |
Definition at line 98 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimitTorqueTime
| double jointLimitTorqueTime |
Definition at line 304 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimNullSpace
| Eigen::MatrixXf jointLimNullSpace |
Definition at line 110 of file SafetyTaskspaceImpedanceController.h.
◆ jointLimNullSpaceFiltered
| Eigen::MatrixXf jointLimNullSpaceFiltered |
Definition at line 114 of file SafetyTaskspaceImpedanceController.h.
◆ jointVel
| float jointVel |
joint limit avoidance intermediate results
Definition at line 284 of file SafetyTaskspaceImpedanceController.h.
◆ jtpinv
| Eigen::MatrixXf jtpinv |
Definition at line 295 of file SafetyTaskspaceImpedanceController.h.
◆ k1
| float k1 |
self-collision avoidance null space intermediate results
Definition at line 228 of file SafetyTaskspaceImpedanceController.h.
◆ k1Hi
| float k1Hi |
Definition at line 291 of file SafetyTaskspaceImpedanceController.h.
◆ k1Lo
| float k1Lo |
Definition at line 290 of file SafetyTaskspaceImpedanceController.h.
◆ k2
| float k2 |
Definition at line 228 of file SafetyTaskspaceImpedanceController.h.
◆ k2Hi
| float k2Hi |
Definition at line 291 of file SafetyTaskspaceImpedanceController.h.
◆ k2Lo
| float k2Lo |
Definition at line 290 of file SafetyTaskspaceImpedanceController.h.
◆ k3
| float k3 |
Definition at line 228 of file SafetyTaskspaceImpedanceController.h.
◆ k3Hi
| float k3Hi |
Definition at line 291 of file SafetyTaskspaceImpedanceController.h.
◆ k3Lo
| float k3Lo |
Definition at line 290 of file SafetyTaskspaceImpedanceController.h.
◆ k4
| float k4 |
Definition at line 228 of file SafetyTaskspaceImpedanceController.h.
◆ k4Hi
| float k4Hi |
Definition at line 291 of file SafetyTaskspaceImpedanceController.h.
◆ k4Lo
| float k4Lo |
Definition at line 290 of file SafetyTaskspaceImpedanceController.h.
◆ kdForceImpedance
| Eigen::Vector6f kdForceImpedance |
Definition at line 70 of file SafetyTaskspaceImpedanceController.h.
◆ kdImpedanceTorque
| Eigen::VectorXf kdImpedanceTorque |
Definition at line 93 of file SafetyTaskspaceImpedanceController.h.
◆ localStiffnessJointLim
| float localStiffnessJointLim |
Definition at line 287 of file SafetyTaskspaceImpedanceController.h.
◆ localTransformation
| simox::control::Pose localTransformation |
Definition at line 121 of file SafetyTaskspaceImpedanceController.h.
◆ neck1JointValued
| double neck1JointValued |
Definition at line 318 of file SafetyTaskspaceImpedanceController.h.
◆ neck1JointValuef
| float neck1JointValuef |
Definition at line 315 of file SafetyTaskspaceImpedanceController.h.
◆ neck2JointValued
| double neck2JointValued |
Definition at line 319 of file SafetyTaskspaceImpedanceController.h.
◆ neck2JointValuef
| float neck2JointValuef |
Definition at line 316 of file SafetyTaskspaceImpedanceController.h.
◆ node
| const simox::control::robot::NodeInterface* node |
self-collision avoidance intermediate results
Definition at line 120 of file SafetyTaskspaceImpedanceController.h.
◆ node1Index
| unsigned int node1Index |
Definition at line 124 of file SafetyTaskspaceImpedanceController.h.
◆ node1OnArm
| bool node1OnArm |
Definition at line 122 of file SafetyTaskspaceImpedanceController.h.
◆ node2Index
| unsigned int node2Index |
Definition at line 125 of file SafetyTaskspaceImpedanceController.h.
◆ node2OnArm
| bool node2OnArm |
Definition at line 123 of file SafetyTaskspaceImpedanceController.h.
◆ normalizedJacT
| Eigen::VectorXf normalizedJacT |
Definition at line 229 of file SafetyTaskspaceImpedanceController.h.
◆ nullspaceTorque
| Eigen::VectorXf nullspaceTorque |
Definition at line 62 of file SafetyTaskspaceImpedanceController.h.
◆ poseDiffMatImp
| Eigen::Matrix3f poseDiffMatImp |
intermediate impedance results
Definition at line 82 of file SafetyTaskspaceImpedanceController.h.
◆ poseErrorImp
| Eigen::Vector6f poseErrorImp |
Definition at line 83 of file SafetyTaskspaceImpedanceController.h.
◆ preFilterTime
| double preFilterTime |
Definition at line 302 of file SafetyTaskspaceImpedanceController.h.
◆ projForceImpedance
| Eigen::Vector6f projForceImpedance |
Definition at line 88 of file SafetyTaskspaceImpedanceController.h.
◆ projImpedanceJointTorque
| Eigen::VectorXf projImpedanceJointTorque |
intermediate projected torques via null space matrices
Definition at line 101 of file SafetyTaskspaceImpedanceController.h.
◆ projJointLimJointTorque
| Eigen::VectorXf projJointLimJointTorque |
Definition at line 103 of file SafetyTaskspaceImpedanceController.h.
◆ projSelfCollJointTorque
| Eigen::VectorXf projSelfCollJointTorque |
Definition at line 102 of file SafetyTaskspaceImpedanceController.h.
◆ projTotalForceImpedance
| float projTotalForceImpedance |
Definition at line 89 of file SafetyTaskspaceImpedanceController.h.
◆ qpos
| Eigen::VectorXf qpos |
current status
Definition at line 73 of file SafetyTaskspaceImpedanceController.h.
◆ qvel
| Eigen::VectorXf qvel |
Definition at line 74 of file SafetyTaskspaceImpedanceController.h.
◆ qvelFiltered
| Eigen::VectorXf qvelFiltered |
Definition at line 75 of file SafetyTaskspaceImpedanceController.h.
◆ rtSafe
| bool rtSafe |
Definition at line 298 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollDataVec
| std::vector<selfCollisionData> selfCollDataVec |
Definition at line 222 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollisionJointTorque
| Eigen::VectorXf selfCollisionJointTorque |
Definition at line 94 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollisionNullSpaceWeights
| Eigen::Vector4f selfCollisionNullSpaceWeights |
self-collision avoidance initialization parameters
Definition at line 117 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollisionTorqueFiltered
| Eigen::VectorXf selfCollisionTorqueFiltered |
Definition at line 97 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollNullSpace
| Eigen::MatrixXf selfCollNullSpace |
intermediate null space matrices (self-collision and joint limit avoidance)
Definition at line 109 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollNullSpaceFiltered
| Eigen::MatrixXf selfCollNullSpaceFiltered |
Definition at line 113 of file SafetyTaskspaceImpedanceController.h.
◆ selfCollNullspaceTime
| double selfCollNullspaceTime |
Definition at line 305 of file SafetyTaskspaceImpedanceController.h.
◆ setActuatedJointValues
| Eigen::VectorXd setActuatedJointValues |
Definition at line 320 of file SafetyTaskspaceImpedanceController.h.
◆ tempNullSpaceMatrix
| Eigen::MatrixXf tempNullSpaceMatrix |
Definition at line 230 of file SafetyTaskspaceImpedanceController.h.
◆ torsoJointValued
| double torsoJointValued |
Definition at line 317 of file SafetyTaskspaceImpedanceController.h.
◆ torsoJointValuef
| float torsoJointValuef |
other actuated joint debug info
Definition at line 314 of file SafetyTaskspaceImpedanceController.h.
◆ totalForceImpedance
| float totalForceImpedance |
Definition at line 87 of file SafetyTaskspaceImpedanceController.h.
◆ trackingError
| float trackingError |
Definition at line 84 of file SafetyTaskspaceImpedanceController.h.
The documentation for this struct was generated from the following file:
- armarx/control/common/control_law/SafetyTaskspaceImpedanceController.h
