TaskspaceMixedImpedanceVelocityController::RtStatus Struct Reference

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

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

+ Inheritance diagram for TaskspaceMixedImpedanceVelocityController::RtStatus:

Public Member Functions

void reset (const unsigned int nDoF, const size_t numDoFTorque, const size_t numDoFVelocity)
 
void rtPreActivate (const Eigen::Matrix4f &currentPose)
 

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< floatjointPosition
 
Eigen::VectorXf jointTor
 
std::vector< floatjointTorque
 
Eigen::VectorXf jointVel
 
std::vector< floatjointVelocity
 
unsigned int numJoints
 

Detailed Description

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

Definition at line 50 of file TaskspaceMixedImpedanceVelocityController.h.

Member Function Documentation

◆ reset()

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.

+ 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 288 of file TaskspaceMixedImpedanceVelocityController.cpp.

Member Data Documentation

◆ cartesianVelTarget

Eigen::Vector6f cartesianVelTarget

Definition at line 63 of file TaskspaceMixedImpedanceVelocityController.h.

◆ currentForceTorque

Eigen::Vector6f currentForceTorque

force torque

Definition at line 59 of file TaskspaceMixedImpedanceVelocityController.h.

◆ currentPose

Eigen::Matrix4f currentPose

Definition at line 69 of file TaskspaceMixedImpedanceVelocityController.h.

◆ currentTwist

Eigen::Vector6f currentTwist

Definition at line 70 of file TaskspaceMixedImpedanceVelocityController.h.

◆ desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 53 of file TaskspaceMixedImpedanceVelocityController.h.

◆ desiredJointVelocity

Eigen::VectorXf desiredJointVelocity

Definition at line 54 of file TaskspaceMixedImpedanceVelocityController.h.

◆ desiredPose

Eigen::Matrix4f desiredPose

Definition at line 71 of file TaskspaceMixedImpedanceVelocityController.h.

◆ forceImpedance

Eigen::Vector6f forceImpedance

task space variables

Definition at line 62 of file TaskspaceMixedImpedanceVelocityController.h.

◆ jacobi

Eigen::MatrixXf jacobi

others

Definition at line 79 of file TaskspaceMixedImpedanceVelocityController.h.

◆ jpinv

Eigen::MatrixXf jpinv

Definition at line 81 of file TaskspaceMixedImpedanceVelocityController.h.

◆ jtpinv

Eigen::MatrixXf jtpinv

Definition at line 80 of file TaskspaceMixedImpedanceVelocityController.h.

◆ nDoFTorque

size_t nDoFTorque

Definition at line 85 of file TaskspaceMixedImpedanceVelocityController.h.

◆ nDoFVelocity

size_t nDoFVelocity

Definition at line 86 of file TaskspaceMixedImpedanceVelocityController.h.

◆ nullspaceTorque

Eigen::VectorXf nullspaceTorque

Definition at line 55 of file TaskspaceMixedImpedanceVelocityController.h.

◆ nullspaceVelocity

Eigen::VectorXf nullspaceVelocity

Definition at line 56 of file TaskspaceMixedImpedanceVelocityController.h.

◆ oriDiffAngleAxis

Eigen::AngleAxisf oriDiffAngleAxis

Definition at line 76 of file TaskspaceMixedImpedanceVelocityController.h.

◆ poseDiffMatImp

Eigen::Matrix3f poseDiffMatImp

intermediate results

Definition at line 74 of file TaskspaceMixedImpedanceVelocityController.h.

◆ poseErrorImp

Eigen::Vector6f poseErrorImp

Definition at line 75 of file TaskspaceMixedImpedanceVelocityController.h.

◆ qpos

Eigen::VectorXf qpos

current status

Definition at line 66 of file TaskspaceMixedImpedanceVelocityController.h.

◆ qvel

Eigen::VectorXf qvel

Definition at line 67 of file TaskspaceMixedImpedanceVelocityController.h.

◆ qvelFiltered

Eigen::VectorXf qvelFiltered

Definition at line 68 of file TaskspaceMixedImpedanceVelocityController.h.

◆ rtSafe

bool rtSafe

Definition at line 82 of file TaskspaceMixedImpedanceVelocityController.h.

◆ rtTargetSafe

bool rtTargetSafe = true

Definition at line 83 of file TaskspaceMixedImpedanceVelocityController.h.


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