TaskspaceAdmittanceController::RtStatus Struct Reference

internal status of the controller, containing intermediate variables, mutable targets More...

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

Public Attributes
Eigen::Vector6f	currentForceTorque
Eigen::VectorXf	desiredJointTorques
	targets More...
Eigen::Matrix4f	desiredPose
Eigen::Vector6f	desiredTwist
Eigen::Vector6f	forceImpedance
	task space variables More...
Eigen::Vector6f	kmAdmittance
Eigen::VectorXf	nullspaceTorque
Eigen::Vector6f	virtualAcc
Eigen::Matrix4f	virtualPose
	variables that need to be kept locally by the rt thread More...
Eigen::Vector6f	virtualVel

Detailed Description

internal status of the controller, containing intermediate variables, mutable targets

Definition at line 67 of file TaskspaceAdmittanceController.h.

Member Data Documentation

currentForceTorque

Eigen::Vector6f currentForceTorque

Definition at line 82 of file TaskspaceAdmittanceController.h.

desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 70 of file TaskspaceAdmittanceController.h.

desiredPose

Eigen::Matrix4f desiredPose

Definition at line 78 of file TaskspaceAdmittanceController.h.

desiredTwist

Eigen::Vector6f desiredTwist

Definition at line 79 of file TaskspaceAdmittanceController.h.

forceImpedance

Eigen::Vector6f forceImpedance

task space variables

Definition at line 85 of file TaskspaceAdmittanceController.h.

kmAdmittance

Eigen::Vector6f kmAdmittance

Definition at line 80 of file TaskspaceAdmittanceController.h.

nullspaceTorque

Eigen::VectorXf nullspaceTorque

Definition at line 71 of file TaskspaceAdmittanceController.h.

virtualAcc

Eigen::Vector6f virtualAcc

Definition at line 76 of file TaskspaceAdmittanceController.h.

virtualPose

Eigen::Matrix4f virtualPose

variables that need to be kept locally by the rt thread

Definition at line 74 of file TaskspaceAdmittanceController.h.

virtualVel

Eigen::Vector6f virtualVel

Definition at line 75 of file TaskspaceAdmittanceController.h.

---

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

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