you can set the following values from outside of the rt controller via Ice interfaces More...
#include <armarx/control/common/control_law/TaskspaceAdmittanceController.h>
Inheritance diagram for TaskspaceAdmittanceController::Config:Public Attributes | |
| std::optional< Eigen::VectorXf > | desiredNullspaceJointAngles |
| Eigen::Matrix4f | desiredPose |
| Eigen::Vector6f | desiredTwist |
| common::ft::FTSensor::FTConfig | ftConfig |
| force torque sensor config More... | |
| Eigen::Vector6f | kdAdmittance |
| Eigen::Vector6f | kdImpedance |
| Eigen::VectorXf | kdNullspace |
| Eigen::Vector6f | kmAdmittance |
| Eigen::Vector6f | kpAdmittance |
| Eigen::Vector6f | kpImpedance |
| Eigen::VectorXf | kpNullspace |
| float | qvelFilter |
| float | torqueLimit |
Detailed Description
you can set the following values from outside of the rt controller via Ice interfaces
Definition at line 43 of file TaskspaceAdmittanceController.h.
Member Data Documentation
◆ desiredNullspaceJointAngles
| std::optional<Eigen::VectorXf> desiredNullspaceJointAngles |
Definition at line 57 of file TaskspaceAdmittanceController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 55 of file TaskspaceAdmittanceController.h.
◆ desiredTwist
| Eigen::Vector6f desiredTwist |
Definition at line 56 of file TaskspaceAdmittanceController.h.
◆ ftConfig
| common::ft::FTSensor::FTConfig ftConfig |
force torque sensor config
Definition at line 63 of file TaskspaceAdmittanceController.h.
◆ kdAdmittance
| Eigen::Vector6f kdAdmittance |
Definition at line 49 of file TaskspaceAdmittanceController.h.
◆ kdImpedance
| Eigen::Vector6f kdImpedance |
Definition at line 46 of file TaskspaceAdmittanceController.h.
◆ kdNullspace
| Eigen::VectorXf kdNullspace |
Definition at line 53 of file TaskspaceAdmittanceController.h.
◆ kmAdmittance
| Eigen::Vector6f kmAdmittance |
Definition at line 50 of file TaskspaceAdmittanceController.h.
◆ kpAdmittance
| Eigen::Vector6f kpAdmittance |
Definition at line 48 of file TaskspaceAdmittanceController.h.
◆ kpImpedance
| Eigen::Vector6f kpImpedance |
Definition at line 45 of file TaskspaceAdmittanceController.h.
◆ kpNullspace
| Eigen::VectorXf kpNullspace |
Definition at line 52 of file TaskspaceAdmittanceController.h.
◆ qvelFilter
| float qvelFilter |
Definition at line 60 of file TaskspaceAdmittanceController.h.
◆ torqueLimit
| float torqueLimit |
Definition at line 59 of file TaskspaceAdmittanceController.h.
The documentation for this struct was generated from the following file:
- armarx/control/common/control_law/TaskspaceAdmittanceController.h
