SafetyTaskspaceImpedanceController::RtStatus::jointRangeBufferZoneData Struct Reference

joint limit avoidance initialization parameters More...

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

Public Member Functions
	jointRangeBufferZoneData ()

Public Attributes
float	desiredNSjointLim
bool	isLimitless
Eigen::Vector4f	jointLimitNullSpaceWeightsHigh
Eigen::Vector4f	jointLimitNullSpaceWeightsLow
std::string	jointName
	for each joint, that has a limit, based on the config parameters: jointRangeBufferZone jointRangeBufferZone_z1 jointRangeBufferZone_z2 More...
float	qLimHigh
float	qLimLow
float	qposThresholdHigh
float	qposThresholdLow
float	qposZ1High
float	qposZ1Low
	null space parameters More...
float	qposZ2High
float	qposZ2Low
float	repulsiveTorque
float	thresholdRange
float	totalDamping

Detailed Description

joint limit avoidance initialization parameters

Definition at line 233 of file SafetyTaskspaceImpedanceController.h.

Constructor & Destructor Documentation

jointRangeBufferZoneData()

jointRangeBufferZoneData ( )

inline

Definition at line 260 of file SafetyTaskspaceImpedanceController.h.

Member Data Documentation

desiredNSjointLim

float desiredNSjointLim

Definition at line 256 of file SafetyTaskspaceImpedanceController.h.

isLimitless

bool isLimitless

Definition at line 243 of file SafetyTaskspaceImpedanceController.h.

jointLimitNullSpaceWeightsHigh

Eigen::Vector4f jointLimitNullSpaceWeightsHigh

Definition at line 255 of file SafetyTaskspaceImpedanceController.h.

jointLimitNullSpaceWeightsLow

Eigen::Vector4f jointLimitNullSpaceWeightsLow

Definition at line 254 of file SafetyTaskspaceImpedanceController.h.

jointName

std::string jointName

for each joint, that has a limit, based on the config parameters: jointRangeBufferZone jointRangeBufferZone_z1 jointRangeBufferZone_z2

the specific values depending on the joint range of each joint have to be calculated (and stored, so the calculation is only done in the init)

Definition at line 242 of file SafetyTaskspaceImpedanceController.h.

qLimHigh

float qLimHigh

Definition at line 245 of file SafetyTaskspaceImpedanceController.h.

qLimLow

float qLimLow

Definition at line 244 of file SafetyTaskspaceImpedanceController.h.

qposThresholdHigh

float qposThresholdHigh

Definition at line 248 of file SafetyTaskspaceImpedanceController.h.

qposThresholdLow

float qposThresholdLow

Definition at line 247 of file SafetyTaskspaceImpedanceController.h.

qposZ1High

float qposZ1High

Definition at line 252 of file SafetyTaskspaceImpedanceController.h.

qposZ1Low

float qposZ1Low

null space parameters

Definition at line 250 of file SafetyTaskspaceImpedanceController.h.

qposZ2High

float qposZ2High

Definition at line 253 of file SafetyTaskspaceImpedanceController.h.

qposZ2Low

float qposZ2Low

Definition at line 251 of file SafetyTaskspaceImpedanceController.h.

repulsiveTorque

float repulsiveTorque

Definition at line 257 of file SafetyTaskspaceImpedanceController.h.

thresholdRange

float thresholdRange

Definition at line 246 of file SafetyTaskspaceImpedanceController.h.

totalDamping

float totalDamping

Definition at line 258 of file SafetyTaskspaceImpedanceController.h.

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

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