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

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

Public Attributes

TripleBuffer< Config > bufferConfigNonRtToRt
 
TripleBuffer< Config > bufferConfigRtToOnPublish
 
TripleBuffer< Config > bufferConfigRtToUser
 
TripleBuffer< Config > bufferConfigUserToNonRt
 
TripleBuffer< RtStatus > bufferRtStatusToNonRt
 
TripleBuffer< RtStatus > bufferRtStatusToOnPublish
 
TripleBuffer< RtStatus > bufferRtStatusToUser
 
std::shared_ptr< std::vector< simox::control::environment::DistanceResult > > collisionPairsPtr
 
law::SafetyTaskspaceImpedanceController controller
 controller (maths) More...
 
std::shared_ptr< simox::control::geodesics::metric::Inertia > inertiaPtr
 self-collision avoidance More...
 
std::vector< std::string > jointNames
 
std::string kinematicChainName
 names More...
 
Config nonRtConfig
 set data containers and buffers More...
 
VirtualRobot::RobotPtr nonRtRobot
 robot More...
 
std::shared_ptr< std::vector< int > > pointsOnArm
 
int pointsOnArmIndex
 
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::shared_ptr< simox::control::simox::robot::Robot > simoxReducedRobotPtr
 
std::vector< ControlTarget1DoFActuatorTorque * > targets
 
std::string tcpName
 

Detailed Description

Definition at line 66 of file SafetyImpedanceController.h.

Member Data Documentation

◆ bufferConfigNonRtToRt

TripleBuffer<Config> bufferConfigNonRtToRt

Definition at line 84 of file SafetyImpedanceController.h.

◆ bufferConfigRtToOnPublish

TripleBuffer<Config> bufferConfigRtToOnPublish

Definition at line 85 of file SafetyImpedanceController.h.

◆ bufferConfigRtToUser

TripleBuffer<Config> bufferConfigRtToUser

Definition at line 86 of file SafetyImpedanceController.h.

◆ bufferConfigUserToNonRt

TripleBuffer<Config> bufferConfigUserToNonRt

Definition at line 83 of file SafetyImpedanceController.h.

◆ bufferRtStatusToNonRt

TripleBuffer<RtStatus> bufferRtStatusToNonRt

Definition at line 92 of file SafetyImpedanceController.h.

◆ bufferRtStatusToOnPublish

TripleBuffer<RtStatus> bufferRtStatusToOnPublish

Definition at line 90 of file SafetyImpedanceController.h.

◆ bufferRtStatusToUser

TripleBuffer<RtStatus> bufferRtStatusToUser

Definition at line 91 of file SafetyImpedanceController.h.

◆ collisionPairsPtr

std::shared_ptr<std::vector<simox::control::environment::DistanceResult> > collisionPairsPtr

Definition at line 105 of file SafetyImpedanceController.h.

◆ controller

law::SafetyTaskspaceImpedanceController controller

controller (maths)

Definition at line 78 of file SafetyImpedanceController.h.

◆ inertiaPtr

std::shared_ptr<simox::control::geodesics::metric::Inertia> inertiaPtr

self-collision avoidance

Definition at line 103 of file SafetyImpedanceController.h.

◆ jointNames

std::vector<std::string> jointNames

Definition at line 74 of file SafetyImpedanceController.h.

◆ kinematicChainName

std::string kinematicChainName

names

Definition at line 73 of file SafetyImpedanceController.h.

◆ nonRtConfig

Config nonRtConfig

set data containers and buffers

Definition at line 81 of file SafetyImpedanceController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

robot

Definition at line 100 of file SafetyImpedanceController.h.

◆ pointsOnArm

std::shared_ptr<std::vector<int> > pointsOnArm

Definition at line 106 of file SafetyImpedanceController.h.

◆ pointsOnArmIndex

int pointsOnArmIndex

Definition at line 107 of file SafetyImpedanceController.h.

◆ reInitPreActivate

std::atomic_bool reInitPreActivate {false}

Definition at line 97 of file SafetyImpedanceController.h.

◆ rtConfig

Config rtConfig

Definition at line 82 of file SafetyImpedanceController.h.

◆ rtFirstRun

std::atomic_bool rtFirstRun {true}

flags

Definition at line 95 of file SafetyImpedanceController.h.

◆ rtReady

std::atomic_bool rtReady {false}

Definition at line 96 of file SafetyImpedanceController.h.

◆ rtStatus

RtStatus rtStatus

Definition at line 89 of file SafetyImpedanceController.h.

◆ rtStatusInNonRT

RtStatus rtStatusInNonRT

Definition at line 88 of file SafetyImpedanceController.h.

◆ sensorDevices

common::SensorDevicesForNJointTorqueController sensorDevices

devices

Definition at line 69 of file SafetyImpedanceController.h.

◆ simoxReducedRobotPtr

std::shared_ptr<simox::control::simox::robot::Robot> simoxReducedRobotPtr

Definition at line 109 of file SafetyImpedanceController.h.

◆ targets

std::vector<ControlTarget1DoFActuatorTorque*> targets

Definition at line 70 of file SafetyImpedanceController.h.

◆ tcpName

std::string tcpName

Definition at line 75 of file SafetyImpedanceController.h.

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