SafetyTaskspaceImpedanceController::RtStatus::selfCollisionData Struct Reference

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

Public Member Functions
void	clearValues ()
	selfCollisionData (int size)
void	setCalcValues (const Eigen::MatrixXf &jacobian, float repulsiveForce, float localStiffness, const Eigen::VectorXf &projectedJacT, float distanceVelocity, const Eigen::Vector3f &direction, const Eigen::Vector3f &point, float damping, float projectedMass, float desiredNSColl)
void	setDistValues (std::string nodeName, std::string otherName, float minDistance)

Public Attributes
float	damping
float	desiredNSColl
Eigen::Vector3f	direction
float	distanceVelocity
Eigen::MatrixXf	jacobian
float	localStiffness
float	minDistance
std::string	nodeName
	the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation More...
std::string	otherName
Eigen::Vector3f	point
float	projectedImpedanceForce
Eigen::VectorXf	projectedJacT
float	projectedMass
float	repulsiveForce

Detailed Description

Definition at line 127 of file SafetyTaskspaceImpedanceController.h.

Constructor & Destructor Documentation

selfCollisionData()

selfCollisionData ( int  size )

inline

Definition at line 151 of file SafetyTaskspaceImpedanceController.h.

Member Function Documentation

clearValues()

void clearValues ( )

inline

Definition at line 171 of file SafetyTaskspaceImpedanceController.h.

setCalcValues()

void setCalcValues ( const Eigen::MatrixXf &  jacobian, float  repulsiveForce, float  localStiffness, const Eigen::VectorXf &  projectedJacT, float  distanceVelocity, const Eigen::Vector3f &  direction, const Eigen::Vector3f &  point, float  damping, float  projectedMass, float  desiredNSColl  )

inline

Definition at line 198 of file SafetyTaskspaceImpedanceController.h.

setDistValues()

void setDistValues ( std::string  nodeName, std::string  otherName, float  minDistance  )

inline

Definition at line 190 of file SafetyTaskspaceImpedanceController.h.

Member Data Documentation

damping

float damping

Definition at line 143 of file SafetyTaskspaceImpedanceController.h.

desiredNSColl

float desiredNSColl

Definition at line 145 of file SafetyTaskspaceImpedanceController.h.

direction

Eigen::Vector3f direction

Definition at line 141 of file SafetyTaskspaceImpedanceController.h.

distanceVelocity

float distanceVelocity

Definition at line 140 of file SafetyTaskspaceImpedanceController.h.

jacobian

Eigen::MatrixXf jacobian

Definition at line 133 of file SafetyTaskspaceImpedanceController.h.

localStiffness

float localStiffness

Definition at line 138 of file SafetyTaskspaceImpedanceController.h.

minDistance

float minDistance

Definition at line 134 of file SafetyTaskspaceImpedanceController.h.

nodeName

std::string nodeName

the distances and projected jacobians from the generateSelfCollisionTorque() method are needed for the null space calculation

Definition at line 131 of file SafetyTaskspaceImpedanceController.h.

otherName

std::string otherName

Definition at line 132 of file SafetyTaskspaceImpedanceController.h.

point

Eigen::Vector3f point

Definition at line 142 of file SafetyTaskspaceImpedanceController.h.

projectedImpedanceForce

float projectedImpedanceForce

Definition at line 149 of file SafetyTaskspaceImpedanceController.h.

projectedJacT

Eigen::VectorXf projectedJacT

Definition at line 139 of file SafetyTaskspaceImpedanceController.h.

projectedMass

float projectedMass

Definition at line 144 of file SafetyTaskspaceImpedanceController.h.

repulsiveForce

float repulsiveForce

Definition at line 137 of file SafetyTaskspaceImpedanceController.h.

---

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

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