internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/TaskspaceAdmittanceController.h>
Inheritance diagram for TaskspaceAdmittanceController::RtStatus:Public Member Functions | |
| void | reset (const unsigned int nDoF) |
| void | rtPreActivate (const Eigen::Matrix4f ¤tPose) |
Public Attributes | |
| Eigen::Vector6f | acc |
| Eigen::Vector6f | currentForceTorque |
| force torque More... | |
| Eigen::Matrix4f | currentPose |
| Eigen::Vector6f | currentTwist |
| Eigen::VectorXf | desiredJointTorques |
| targets More... | |
| Eigen::Matrix4f | desiredPose |
| Eigen::Vector6f | forceImpedance |
| task space variables More... | |
| Eigen::MatrixXf | jacobi |
| others More... | |
| Eigen::MatrixXf | jtpinv |
| Eigen::VectorXf | nullspaceTorque |
| Eigen::AngleAxisf | oriDiffAngleAxis |
| Eigen::Vector6f | pos |
| Eigen::Matrix3f | poseDiffMatAdm |
| Eigen::Matrix3f | poseDiffMatImp |
| intermediate results More... | |
| Eigen::Vector6f | poseErrorAdm |
| Eigen::Vector6f | poseErrorImp |
| Eigen::VectorXf | qpos |
| current status More... | |
| Eigen::VectorXf | qvel |
| Eigen::VectorXf | qvelFiltered |
| bool | rtSafe |
| bool | rtTargetSafe = true |
| Eigen::Vector6f | vel |
| Eigen::Vector6f | virtualAcc |
| Eigen::Matrix4f | virtualPose |
| variables that need to be kept locally by the rt thread More... | |
| Eigen::Vector6f | virtualVel |
| Public Attributes inherited from RobotStatus | |
| double | deltaT = 0 |
| Eigen::VectorXf | jointPos |
| std::vector< float > | jointPosition |
| Eigen::VectorXf | jointTor |
| std::vector< float > | jointTorque |
| Eigen::VectorXf | jointVel |
| std::vector< float > | jointVelocity |
| unsigned int | numJoints |
Detailed Description
internal status of the controller, containing intermediate variables, mutable targets
Definition at line 48 of file TaskspaceAdmittanceController.h.
Member Function Documentation
◆ reset()
| void reset | ( | const unsigned int | nDoF | ) |
This function can be called before the RT thread. base
targets
force torque
task space variables
current status
virtual status
intermediate results
others
Definition at line 196 of file TaskspaceAdmittanceController.cpp.
Here is the call graph for this function:◆ rtPreActivate()
| void rtPreActivate | ( | const Eigen::Matrix4f & | currentPose | ) |
!!!! TO BE UPDATED IN PREACTIVATE !!!! only then the up-to-date robot joint information is available
Definition at line 246 of file TaskspaceAdmittanceController.cpp.
Member Data Documentation
◆ acc
| Eigen::Vector6f acc |
Definition at line 61 of file TaskspaceAdmittanceController.h.
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
force torque
Definition at line 66 of file TaskspaceAdmittanceController.h.
◆ currentPose
| Eigen::Matrix4f currentPose |
Definition at line 75 of file TaskspaceAdmittanceController.h.
◆ currentTwist
| Eigen::Vector6f currentTwist |
Definition at line 76 of file TaskspaceAdmittanceController.h.
◆ desiredJointTorques
| Eigen::VectorXf desiredJointTorques |
targets
Definition at line 51 of file TaskspaceAdmittanceController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 77 of file TaskspaceAdmittanceController.h.
◆ forceImpedance
| Eigen::Vector6f forceImpedance |
task space variables
Definition at line 69 of file TaskspaceAdmittanceController.h.
◆ jacobi
| Eigen::MatrixXf jacobi |
others
Definition at line 85 of file TaskspaceAdmittanceController.h.
◆ jtpinv
| Eigen::MatrixXf jtpinv |
Definition at line 86 of file TaskspaceAdmittanceController.h.
◆ nullspaceTorque
| Eigen::VectorXf nullspaceTorque |
Definition at line 52 of file TaskspaceAdmittanceController.h.
◆ oriDiffAngleAxis
| Eigen::AngleAxisf oriDiffAngleAxis |
Definition at line 82 of file TaskspaceAdmittanceController.h.
◆ pos
| Eigen::Vector6f pos |
Definition at line 63 of file TaskspaceAdmittanceController.h.
◆ poseDiffMatAdm
| Eigen::Matrix3f poseDiffMatAdm |
Definition at line 59 of file TaskspaceAdmittanceController.h.
◆ poseDiffMatImp
| Eigen::Matrix3f poseDiffMatImp |
intermediate results
Definition at line 80 of file TaskspaceAdmittanceController.h.
◆ poseErrorAdm
| Eigen::Vector6f poseErrorAdm |
Definition at line 60 of file TaskspaceAdmittanceController.h.
◆ poseErrorImp
| Eigen::Vector6f poseErrorImp |
Definition at line 81 of file TaskspaceAdmittanceController.h.
◆ qpos
| Eigen::VectorXf qpos |
current status
Definition at line 72 of file TaskspaceAdmittanceController.h.
◆ qvel
| Eigen::VectorXf qvel |
Definition at line 73 of file TaskspaceAdmittanceController.h.
◆ qvelFiltered
| Eigen::VectorXf qvelFiltered |
Definition at line 74 of file TaskspaceAdmittanceController.h.
◆ rtSafe
| bool rtSafe |
Definition at line 87 of file TaskspaceAdmittanceController.h.
◆ rtTargetSafe
| bool rtTargetSafe = true |
Definition at line 88 of file TaskspaceAdmittanceController.h.
◆ vel
| Eigen::Vector6f vel |
Definition at line 62 of file TaskspaceAdmittanceController.h.
◆ virtualAcc
| Eigen::Vector6f virtualAcc |
Definition at line 57 of file TaskspaceAdmittanceController.h.
◆ virtualPose
| Eigen::Matrix4f virtualPose |
variables that need to be kept locally by the rt thread
Definition at line 55 of file TaskspaceAdmittanceController.h.
◆ virtualVel
| Eigen::Vector6f virtualVel |
Definition at line 56 of file TaskspaceAdmittanceController.h.
The documentation for this struct was generated from the following files:
- armarx/control/common/control_law/TaskspaceAdmittanceController.h
- armarx/control/common/control_law/TaskspaceAdmittanceController.cpp
