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internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/TaskspaceMixedImpedanceVelocityController.h>
Public Member Functions | |
void | reset (const unsigned int nDoF, const size_t numDoFTorque, const size_t numDoFVelocity) |
void | rtPreActivate (const Eigen::Matrix4f ¤tPose) |
Public Attributes | |
Eigen::Vector6f | cartesianVelTarget |
Eigen::Vector6f | currentForceTorque |
force torque More... | |
Eigen::Matrix4f | currentPose |
Eigen::Vector6f | currentTwist |
Eigen::VectorXf | desiredJointTorques |
targets More... | |
Eigen::VectorXf | desiredJointVelocity |
Eigen::Matrix4f | desiredPose |
Eigen::Vector6f | forceImpedance |
task space variables More... | |
Eigen::MatrixXf | jacobi |
others More... | |
Eigen::MatrixXf | jpinv |
Eigen::MatrixXf | jtpinv |
size_t | nDoFTorque |
size_t | nDoFVelocity |
Eigen::VectorXf | nullspaceTorque |
Eigen::VectorXf | nullspaceVelocity |
Eigen::AngleAxisf | oriDiffAngleAxis |
Eigen::Matrix3f | poseDiffMatImp |
intermediate results More... | |
Eigen::Vector6f | poseErrorImp |
Eigen::VectorXf | qpos |
current status More... | |
Eigen::VectorXf | qvel |
Eigen::VectorXf | qvelFiltered |
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 |
internal status of the controller, containing intermediate variables, mutable targets
Definition at line 50 of file TaskspaceMixedImpedanceVelocityController.h.
void reset | ( | const unsigned int | nDoF, |
const size_t | numDoFTorque, | ||
const size_t | numDoFVelocity | ||
) |
This function can be called before the RT thread. base
targets
force torque
task space variables
current status
intermediate results
others
Definition at line 237 of file TaskspaceMixedImpedanceVelocityController.cpp.
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 288 of file TaskspaceMixedImpedanceVelocityController.cpp.
Eigen::Vector6f cartesianVelTarget |
Definition at line 63 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Vector6f currentForceTorque |
force torque
Definition at line 59 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Matrix4f currentPose |
Definition at line 69 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Vector6f currentTwist |
Definition at line 70 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf desiredJointTorques |
targets
Definition at line 53 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf desiredJointVelocity |
Definition at line 54 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Matrix4f desiredPose |
Definition at line 71 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Vector6f forceImpedance |
task space variables
Definition at line 62 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::MatrixXf jacobi |
others
Definition at line 79 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::MatrixXf jpinv |
Definition at line 81 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::MatrixXf jtpinv |
Definition at line 80 of file TaskspaceMixedImpedanceVelocityController.h.
size_t nDoFTorque |
Definition at line 85 of file TaskspaceMixedImpedanceVelocityController.h.
size_t nDoFVelocity |
Definition at line 86 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf nullspaceTorque |
Definition at line 55 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf nullspaceVelocity |
Definition at line 56 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::AngleAxisf oriDiffAngleAxis |
Definition at line 76 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Matrix3f poseDiffMatImp |
intermediate results
Definition at line 74 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::Vector6f poseErrorImp |
Definition at line 75 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf qpos |
current status
Definition at line 66 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf qvel |
Definition at line 67 of file TaskspaceMixedImpedanceVelocityController.h.
Eigen::VectorXf qvelFiltered |
Definition at line 68 of file TaskspaceMixedImpedanceVelocityController.h.
bool rtSafe |
Definition at line 82 of file TaskspaceMixedImpedanceVelocityController.h.
bool rtTargetSafe = true |
Definition at line 83 of file TaskspaceMixedImpedanceVelocityController.h.