TaskspaceImpedanceController::RtStatus Struct Reference

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

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

Public Attributes
Eigen::VectorXf	desiredJointTorques
	targets More...
Eigen::Matrix4f	desiredPose
Eigen::Vector6f	forceImpedance
	task space variables More...

Detailed Description

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

Definition at line 59 of file TaskspaceImpedanceController.h.

Member Data Documentation

desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 62 of file TaskspaceImpedanceController.h.

desiredPose

Eigen::Matrix4f desiredPose

Definition at line 63 of file TaskspaceImpedanceController.h.

forceImpedance

Eigen::Vector6f forceImpedance

task space variables

Definition at line 66 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