internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/TaskspaceImpedanceController.h>
Inheritance diagram for TaskspaceImpedanceController::RtStatus:Public Member Functions | |
| void | reset (const unsigned int nDoF) |
| void | rtPreActivate (const Eigen::Matrix4f ¤tPose) |
Public Attributes | |
| 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::Matrix3f | poseDiffMatImp |
| intermediate results More... | |
| Eigen::Vector6f | poseErrorImp |
| Eigen::VectorXf | qvelFiltered |
| current status More... | |
| bool | rtSafe |
| bool | rtTargetSafe = true |
| 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 TaskspaceImpedanceController.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
intermediate results
others
Definition at line 161 of file TaskspaceImpedanceController.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 203 of file TaskspaceImpedanceController.cpp.
Member Data Documentation
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
force torque
Definition at line 55 of file TaskspaceImpedanceController.h.
◆ currentPose
| Eigen::Matrix4f currentPose |
Definition at line 62 of file TaskspaceImpedanceController.h.
◆ currentTwist
| Eigen::Vector6f currentTwist |
Definition at line 63 of file TaskspaceImpedanceController.h.
◆ desiredJointTorques
| Eigen::VectorXf desiredJointTorques |
targets
Definition at line 51 of file TaskspaceImpedanceController.h.
◆ desiredPose
| Eigen::Matrix4f desiredPose |
Definition at line 64 of file TaskspaceImpedanceController.h.
◆ forceImpedance
| Eigen::Vector6f forceImpedance |
task space variables
Definition at line 58 of file TaskspaceImpedanceController.h.
◆ jacobi
| Eigen::MatrixXf jacobi |
others
Definition at line 72 of file TaskspaceImpedanceController.h.
◆ jtpinv
| Eigen::MatrixXf jtpinv |
Definition at line 73 of file TaskspaceImpedanceController.h.
◆ nullspaceTorque
| Eigen::VectorXf nullspaceTorque |
Definition at line 52 of file TaskspaceImpedanceController.h.
◆ oriDiffAngleAxis
| Eigen::AngleAxisf oriDiffAngleAxis |
Definition at line 69 of file TaskspaceImpedanceController.h.
◆ poseDiffMatImp
| Eigen::Matrix3f poseDiffMatImp |
intermediate results
Definition at line 67 of file TaskspaceImpedanceController.h.
◆ poseErrorImp
| Eigen::Vector6f poseErrorImp |
Definition at line 68 of file TaskspaceImpedanceController.h.
◆ qvelFiltered
| Eigen::VectorXf qvelFiltered |
current status
Definition at line 61 of file TaskspaceImpedanceController.h.
◆ rtSafe
| bool rtSafe |
Definition at line 74 of file TaskspaceImpedanceController.h.
◆ rtTargetSafe
| bool rtTargetSafe = true |
Definition at line 75 of file TaskspaceImpedanceController.h.
The documentation for this struct was generated from the following files:
- armarx/control/common/control_law/TaskspaceImpedanceController.h
- armarx/control/common/control_law/TaskspaceImpedanceController.cpp
