you can set the following values from outside of the rt controller via Ice interfaces More...
#include <armarx/control/common/control_law/TaskspaceImpedanceController.h>
Inheritance diagram for TaskspaceImpedanceController::Config:Public Attributes | |
| std::optional< Eigen::VectorXf > | desiredNullspaceJointAngles |
| Eigen::Matrix4f | desiredPose |
| Eigen::Vector6f | desiredTwist |
| Eigen::Vector6f | kdImpedance |
| Eigen::VectorXf | kdNullspace |
| 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 42 of file TaskspaceImpedanceController.h.
Member Data Documentation
◆ desiredNullspaceJointAngles
| std::optional<Eigen::VectorXf> desiredNullspaceJointAngles |
Definition at line 52 of file TaskspaceImpedanceController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 50 of file TaskspaceImpedanceController.h.
◆ desiredTwist
| Eigen::Vector6f desiredTwist |
Definition at line 51 of file TaskspaceImpedanceController.h.
◆ kdImpedance
| Eigen::Vector6f kdImpedance |
Definition at line 45 of file TaskspaceImpedanceController.h.
◆ kdNullspace
| Eigen::VectorXf kdNullspace |
Definition at line 48 of file TaskspaceImpedanceController.h.
◆ kpImpedance
| Eigen::Vector6f kpImpedance |
Definition at line 44 of file TaskspaceImpedanceController.h.
◆ kpNullspace
| Eigen::VectorXf kpNullspace |
Definition at line 47 of file TaskspaceImpedanceController.h.
◆ qvelFilter
| float qvelFilter |
Definition at line 55 of file TaskspaceImpedanceController.h.
◆ torqueLimit
| float torqueLimit |
Definition at line 54 of file TaskspaceImpedanceController.h.
The documentation for this struct was generated from the following file:
- armarx/control/common/control_law/TaskspaceImpedanceController.h
