TaskspaceImpedanceController::NonRtStatus Struct Reference

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

Public Attributes
Eigen::Matrix4f	currentPose
	task space variables More...
Eigen::Vector6f	currentTwist
Eigen::Matrix4f	desiredPose
Eigen::Vector6f	desiredTwist
Eigen::MatrixXf	jacobi
	others More...
Eigen::MatrixXf	jtpinv
Eigen::VectorXf	qpos
	joint space variable More...
Eigen::VectorXf	qvel

Detailed Description

Definition at line 69 of file TaskspaceImpedanceController.h.

Member Data Documentation

currentPose

Eigen::Matrix4f currentPose

task space variables

Definition at line 76 of file TaskspaceImpedanceController.h.

currentTwist

Eigen::Vector6f currentTwist

Definition at line 77 of file TaskspaceImpedanceController.h.

desiredPose

Eigen::Matrix4f desiredPose

Definition at line 79 of file TaskspaceImpedanceController.h.

desiredTwist

Eigen::Vector6f desiredTwist

Definition at line 80 of file TaskspaceImpedanceController.h.

jacobi

Eigen::MatrixXf jacobi

others

Definition at line 83 of file TaskspaceImpedanceController.h.

jtpinv

Eigen::MatrixXf jtpinv

Definition at line 84 of file TaskspaceImpedanceController.h.

qpos

Eigen::VectorXf qpos

joint space variable

Definition at line 72 of file TaskspaceImpedanceController.h.

qvel

Eigen::VectorXf qvel

Definition at line 73 of file TaskspaceImpedanceController.h.

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

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