NJointZeroTorqueOrVelocityWithFTController::RtStatus Struct Reference

#include <armarx/control/njoint_controller/joint_space/ZeroTorqueOrVelocityWithFT.h>

Public Attributes
Eigen::Vector6f	cartesianVelTarget
	task space variables More...
Eigen::Vector6f	currentForceTorque
	force torque More...
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...
bool	rtSafe

Detailed Description

Definition at line 53 of file ZeroTorqueOrVelocityWithFT.h.

Member Data Documentation

cartesianVelTarget

Eigen::Vector6f cartesianVelTarget

task space variables

Definition at line 66 of file ZeroTorqueOrVelocityWithFT.h.

currentForceTorque

Eigen::Vector6f currentForceTorque

force torque

Definition at line 62 of file ZeroTorqueOrVelocityWithFT.h.

desiredJointTorques

Eigen::VectorXf desiredJointTorques

targets

Definition at line 56 of file ZeroTorqueOrVelocityWithFT.h.

desiredJointVelocity

Eigen::VectorXf desiredJointVelocity

Definition at line 57 of file ZeroTorqueOrVelocityWithFT.h.

jacobi

Eigen::MatrixXf jacobi

others

Definition at line 81 of file ZeroTorqueOrVelocityWithFT.h.

jpinv

Eigen::MatrixXf jpinv

Definition at line 83 of file ZeroTorqueOrVelocityWithFT.h.

nDoFTorque

size_t nDoFTorque

Definition at line 86 of file ZeroTorqueOrVelocityWithFT.h.

nDoFVelocity

size_t nDoFVelocity

Definition at line 87 of file ZeroTorqueOrVelocityWithFT.h.

qpos

Eigen::VectorXf qpos

current status

Definition at line 69 of file ZeroTorqueOrVelocityWithFT.h.

rtSafe

bool rtSafe

Definition at line 84 of file ZeroTorqueOrVelocityWithFT.h.

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

• armarx/control/njoint_controller/joint_space/ZeroTorqueOrVelocityWithFT.h