FTCalibrateDefaultValue Struct Reference

TODO: this has to be moved to the robot model (e.g. More...

#include <armarx/control/common/ft/FTSensor.h>

Public Attributes
Eigen::Vector3f	tcpCoMInFTFrameLeft {-0.00330519, 0.000470962, 0.100648}
Eigen::Vector3f	tcpCoMInFTFrameRight {-0.00258287, -0.00108265, 0.09719}
float	tcpMassLeft = 1.14715
float	tcpMassRight = 1.16064

Detailed Description

TODO: this has to be moved to the robot model (e.g.

the corresponding hand model) The values below corresponds to the Armar-6 hands, keep it here for now to continue working on controllers

Definition at line 37 of file FTSensor.h.

Member Data Documentation

tcpCoMInFTFrameLeft

Eigen::Vector3f tcpCoMInFTFrameLeft {-0.00330519, 0.000470962, 0.100648}

Definition at line 42 of file FTSensor.h.

tcpCoMInFTFrameRight

Eigen::Vector3f tcpCoMInFTFrameRight {-0.00258287, -0.00108265, 0.09719}

Definition at line 40 of file FTSensor.h.

tcpMassLeft

float tcpMassLeft = 1.14715

Definition at line 41 of file FTSensor.h.

tcpMassRight

float tcpMassRight = 1.16064

Definition at line 39 of file FTSensor.h.

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

• armarx/control/common/ft/FTSensor.h