internal status of the controller, containing intermediate variables, mutable targets More...
#include <armarx/control/common/control_law/ZeroTorqueOrVelocityController.h>
Inheritance diagram for ZeroTorqueOrVelocityController::RtStatus:Public Attributes | |
| Eigen::Vector6f | cartesianVelTarget |
| task space variables More... | |
| Eigen::Vector6f | currentForceTorque |
| force torque More... | |
| Eigen::Vector6f | currentTwist |
| Eigen::VectorXf | desiredJointTorques |
| targets More... | |
| Eigen::VectorXf | desiredJointVelocity |
| Eigen::MatrixXf | jacobi |
| others More... | |
| Eigen::MatrixXf | jpinv |
| size_t | nDoFTorque |
| size_t | nDoFVelocity |
| Eigen::VectorXf | qpos |
| current status More... | |
| Eigen::VectorXf | qvel |
| Eigen::VectorXf | qvelFiltered |
| bool | rtSafe |
| 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 76 of file ZeroTorqueOrVelocityController.h.
Member Data Documentation
◆ cartesianVelTarget
| Eigen::Vector6f cartesianVelTarget |
task space variables
Definition at line 86 of file ZeroTorqueOrVelocityController.h.
◆ currentForceTorque
| Eigen::Vector6f currentForceTorque |
force torque
Definition at line 83 of file ZeroTorqueOrVelocityController.h.
◆ currentTwist
| Eigen::Vector6f currentTwist |
Definition at line 92 of file ZeroTorqueOrVelocityController.h.
◆ desiredJointTorques
| Eigen::VectorXf desiredJointTorques |
targets
Definition at line 79 of file ZeroTorqueOrVelocityController.h.
◆ desiredJointVelocity
| Eigen::VectorXf desiredJointVelocity |
Definition at line 80 of file ZeroTorqueOrVelocityController.h.
◆ jacobi
| Eigen::MatrixXf jacobi |
others
Definition at line 95 of file ZeroTorqueOrVelocityController.h.
◆ jpinv
| Eigen::MatrixXf jpinv |
Definition at line 96 of file ZeroTorqueOrVelocityController.h.
◆ nDoFTorque
| size_t nDoFTorque |
Definition at line 99 of file ZeroTorqueOrVelocityController.h.
◆ nDoFVelocity
| size_t nDoFVelocity |
Definition at line 100 of file ZeroTorqueOrVelocityController.h.
◆ qpos
| Eigen::VectorXf qpos |
current status
Definition at line 89 of file ZeroTorqueOrVelocityController.h.
◆ qvel
| Eigen::VectorXf qvel |
Definition at line 90 of file ZeroTorqueOrVelocityController.h.
◆ qvelFiltered
| Eigen::VectorXf qvelFiltered |
Definition at line 91 of file ZeroTorqueOrVelocityController.h.
◆ rtSafe
| bool rtSafe |
Definition at line 97 of file ZeroTorqueOrVelocityController.h.
The documentation for this struct was generated from the following file:
- armarx/control/common/control_law/ZeroTorqueOrVelocityController.h
