List of all members | Public Attributes
NJointTaskspaceMixedImpedanceVelocityController::ArmData Struct Reference

#include <armarx/control/njoint_controller/task_space/MixedImpedanceVelocityController.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::TaskspaceMixedImpedanceVelocityController 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 * > targetsTorque
 
std::vector< ControlTarget1DoFActuatorVelocity * > targetsVel
 
std::vector< size_t > torqueControlledIndex
 
std::vector< size_t > velocityControlledIndex
 

Detailed Description

Definition at line 61 of file MixedImpedanceVelocityController.h.

Member Data Documentation

◆ bufferConfigNonRtToRt

TripleBuffer<Config> bufferConfigNonRtToRt

Definition at line 85 of file MixedImpedanceVelocityController.h.

◆ bufferConfigRtToOnPublish

TripleBuffer<Config> bufferConfigRtToOnPublish

Definition at line 86 of file MixedImpedanceVelocityController.h.

◆ bufferConfigRtToUser

TripleBuffer<Config> bufferConfigRtToUser

Definition at line 87 of file MixedImpedanceVelocityController.h.

◆ bufferConfigUserToNonRt

TripleBuffer<Config> bufferConfigUserToNonRt

Definition at line 84 of file MixedImpedanceVelocityController.h.

◆ bufferRtStatusToNonRt

TripleBuffer<RtStatus> bufferRtStatusToNonRt

Definition at line 93 of file MixedImpedanceVelocityController.h.

◆ bufferRtStatusToOnPublish

TripleBuffer<RtStatus> bufferRtStatusToOnPublish

Definition at line 91 of file MixedImpedanceVelocityController.h.

◆ bufferRtStatusToUser

TripleBuffer<RtStatus> bufferRtStatusToUser

Definition at line 92 of file MixedImpedanceVelocityController.h.

◆ controller

law::TaskspaceMixedImpedanceVelocityController controller

controller (maths)

Definition at line 76 of file MixedImpedanceVelocityController.h.

◆ jointNames

std::vector<std::string> jointNames

Definition at line 73 of file MixedImpedanceVelocityController.h.

◆ kinematicChainName

std::string kinematicChainName

names

Definition at line 72 of file MixedImpedanceVelocityController.h.

◆ nonRTAccumulateTime

double nonRTAccumulateTime = 0.0

set data containers and buffers

Definition at line 79 of file MixedImpedanceVelocityController.h.

◆ nonRtConfig

Config nonRtConfig

Definition at line 82 of file MixedImpedanceVelocityController.h.

◆ nonRTDeltaT

double nonRTDeltaT = 0.0

Definition at line 80 of file MixedImpedanceVelocityController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

robot

Definition at line 101 of file MixedImpedanceVelocityController.h.

◆ reInitPreActivate

std::atomic_bool reInitPreActivate {false}

Definition at line 98 of file MixedImpedanceVelocityController.h.

◆ rtConfig

Config rtConfig

Definition at line 83 of file MixedImpedanceVelocityController.h.

◆ rtFirstRun

std::atomic_bool rtFirstRun {true}

flags

Definition at line 96 of file MixedImpedanceVelocityController.h.

◆ rtReady

std::atomic_bool rtReady {false}

Definition at line 97 of file MixedImpedanceVelocityController.h.

◆ rtStatus

RtStatus rtStatus

Definition at line 90 of file MixedImpedanceVelocityController.h.

◆ rtStatusInNonRT

RtStatus rtStatusInNonRT

Definition at line 89 of file MixedImpedanceVelocityController.h.

◆ sensorDevices

common::SensorDevicesForNJointTorqueController sensorDevices

devices

Definition at line 64 of file MixedImpedanceVelocityController.h.

◆ targetsTorque

std::vector<ControlTarget1DoFActuatorTorque*> targetsTorque

Definition at line 65 of file MixedImpedanceVelocityController.h.

◆ targetsVel

std::vector<ControlTarget1DoFActuatorVelocity*> targetsVel

Definition at line 66 of file MixedImpedanceVelocityController.h.

◆ torqueControlledIndex

std::vector<size_t> torqueControlledIndex

Definition at line 68 of file MixedImpedanceVelocityController.h.

◆ velocityControlledIndex

std::vector<size_t> velocityControlledIndex

Definition at line 69 of file MixedImpedanceVelocityController.h.

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