#include <armarx/control/njoint_controller/task_space/ImpedanceController.h>

Public Attributes
TripleBuffer< Config >	bufferConfigNonRtToRt

TripleBuffer< Config >	bufferConfigRtToOnPublish

TripleBuffer< Config >	bufferConfigRtToUser

TripleBuffer< Config >	bufferConfigUserToNonRt

TripleBuffer< RtStatus >	bufferRtStatusToNonRt

TripleBuffer< RtStatus >	bufferRtStatusToOnPublish

TripleBuffer< RtStatus >	bufferRtStatusToUser

law::TaskspaceImpedanceController	controller
	controller (maths) More...

std::vector< std::string >	jointNames

std::string	kinematicChainName
	names More...

double	nonRTAccumulateTime = 0.0
	set data containers and buffers More...

Config	nonRtConfig

double	nonRTDeltaT = 0.0

VirtualRobot::RobotPtr	nonRtRobot
	robot More...

std::atomic_bool	reInitPreActivate {false}

Config	rtConfig

std::atomic_bool	rtFirstRun {true}
	flags More...

std::atomic_bool	rtReady {false}

RtStatus	rtStatus

RtStatus	rtStatusInNonRT

common::SensorDevicesForNJointTorqueController	sensorDevices
	devices More...

std::vector< ControlTarget1DoFActuatorTorque * >	targets

Detailed Description

Definition at line 59 of file ImpedanceController.h.

Member Data Documentation

◆ bufferConfigNonRtToRt

TripleBuffer<Config> bufferConfigNonRtToRt

Definition at line 79 of file ImpedanceController.h.

◆ bufferConfigRtToOnPublish

TripleBuffer<Config> bufferConfigRtToOnPublish

Definition at line 80 of file ImpedanceController.h.

◆ bufferConfigRtToUser

TripleBuffer<Config> bufferConfigRtToUser

Definition at line 81 of file ImpedanceController.h.

◆ bufferConfigUserToNonRt

TripleBuffer<Config> bufferConfigUserToNonRt

Definition at line 78 of file ImpedanceController.h.

◆ bufferRtStatusToNonRt

TripleBuffer<RtStatus> bufferRtStatusToNonRt

Definition at line 87 of file ImpedanceController.h.

◆ bufferRtStatusToOnPublish

TripleBuffer<RtStatus> bufferRtStatusToOnPublish

Definition at line 85 of file ImpedanceController.h.

◆ bufferRtStatusToUser

TripleBuffer<RtStatus> bufferRtStatusToUser

Definition at line 86 of file ImpedanceController.h.

◆ controller

law::TaskspaceImpedanceController controller

controller (maths)

Definition at line 70 of file ImpedanceController.h.

◆ jointNames

std::vector<std::string> jointNames

Definition at line 67 of file ImpedanceController.h.

◆ kinematicChainName

std::string kinematicChainName

names

Definition at line 66 of file ImpedanceController.h.

◆ nonRTAccumulateTime

double nonRTAccumulateTime = 0.0

set data containers and buffers

Definition at line 73 of file ImpedanceController.h.

◆ nonRtConfig

Config nonRtConfig

Definition at line 76 of file ImpedanceController.h.

◆ nonRTDeltaT

double nonRTDeltaT = 0.0

Definition at line 74 of file ImpedanceController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

robot

Definition at line 95 of file ImpedanceController.h.

◆ reInitPreActivate

std::atomic_bool reInitPreActivate {false}

Definition at line 92 of file ImpedanceController.h.

◆ rtConfig

Config rtConfig

Definition at line 77 of file ImpedanceController.h.

◆ rtFirstRun

std::atomic_bool rtFirstRun {true}

flags

Definition at line 90 of file ImpedanceController.h.

◆ rtReady

std::atomic_bool rtReady {false}

Definition at line 91 of file ImpedanceController.h.

◆ rtStatus

RtStatus rtStatus

Definition at line 84 of file ImpedanceController.h.

◆ rtStatusInNonRT

RtStatus rtStatusInNonRT

Definition at line 83 of file ImpedanceController.h.

◆ sensorDevices

common::SensorDevicesForNJointTorqueController sensorDevices

devices

Definition at line 62 of file ImpedanceController.h.

◆ targets

std::vector<ControlTarget1DoFActuatorTorque*> targets

Definition at line 63 of file ImpedanceController.h.

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

armarx/control/njoint_controller/task_space/ImpedanceController.h

Public Attributes