NJointBimanualCartesianAdmittanceController::RTData::Arm Struct Reference

#include <armarx/control/deprecated_njoint_mp_controller/bimanual/NJointBimanualCartesianAdmittanceController.h>

Public Attributes
const SensorValueForceTorque *	forceTorque
VirtualRobot::RobotNodePtr	frameFTSensor
VirtualRobot::DifferentialIKPtr	IK
std::vector< std::string >	jointNames
std::vector< const SensorValue1DoFActuatorPosition * >	positionSensors
VirtualRobot::RobotNodeSetPtr	rns
Eigen::Matrix4f	sensorFrame2TcpFrame {Eigen::Matrix4f::Identity()}
std::vector< ControlTarget1DoFActuatorTorque * >	targets
VirtualRobot::RobotNodePtr	tcp
std::vector< const SensorValue1DoFActuatorVelocity * >	velocitySensors

Detailed Description

Definition at line 158 of file NJointBimanualCartesianAdmittanceController.h.

Member Data Documentation

forceTorque

const SensorValueForceTorque* forceTorque

Definition at line 163 of file NJointBimanualCartesianAdmittanceController.h.

frameFTSensor

VirtualRobot::RobotNodePtr frameFTSensor

Definition at line 169 of file NJointBimanualCartesianAdmittanceController.h.

IK

VirtualRobot::DifferentialIKPtr IK

Definition at line 164 of file NJointBimanualCartesianAdmittanceController.h.

jointNames

std::vector<std::string> jointNames

Definition at line 166 of file NJointBimanualCartesianAdmittanceController.h.

positionSensors

std::vector<const SensorValue1DoFActuatorPosition*> positionSensors

Definition at line 162 of file NJointBimanualCartesianAdmittanceController.h.

rns

VirtualRobot::RobotNodeSetPtr rns

Definition at line 167 of file NJointBimanualCartesianAdmittanceController.h.

sensorFrame2TcpFrame

Eigen::Matrix4f sensorFrame2TcpFrame {Eigen::Matrix4f::Identity()}

Definition at line 171 of file NJointBimanualCartesianAdmittanceController.h.

targets

std::vector<ControlTarget1DoFActuatorTorque*> targets

Definition at line 160 of file NJointBimanualCartesianAdmittanceController.h.

tcp

VirtualRobot::RobotNodePtr tcp

Definition at line 168 of file NJointBimanualCartesianAdmittanceController.h.

velocitySensors

std::vector<const SensorValue1DoFActuatorVelocity*> velocitySensors

Definition at line 161 of file NJointBimanualCartesianAdmittanceController.h.

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

• armarx/control/deprecated_njoint_mp_controller/bimanual/NJointBimanualCartesianAdmittanceController.h