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

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

Public Attributes

TripleBuffer< Config > bufferNonRtToRt
 
TripleBuffer< Config > bufferRtConfigToOnPublish
 
TripleBuffer< Config > bufferRtConfigToUser
 
TripleBuffer< law::ZeroTorqueOrVelocityController::RtStatus > bufferRtStatusToOnPublish
 
TripleBuffer< law::ZeroTorqueOrVelocityController::RtStatus > bufferRtStatusToUser
 
TripleBuffer< law::ZeroTorqueOrVelocityController::RtStatus > bufferRtToNonRt
 
TripleBuffer< Config > bufferUserToNonRt
 set buffers More...
 
law::ZeroTorqueOrVelocityController controller
 
std::vector< std::string > jointNames
 
std::string kinematicChainName
 
Config nonRtConfig
 
VirtualRobot::RobotPtr nonRtRobot
 
Config rtConfig
 
std::atomic_bool rtFirstRun {true}
 
std::atomic_bool rtReady {false}
 
law::ZeroTorqueOrVelocityController::RtStatus rtStatus
 
law::ZeroTorqueOrVelocityController::RtStatus rtStatusInNonRT
 
common::SensorDevicesForNJointTorqueController sensorDevices
 
std::vector< ControlTarget1DoFActuatorZeroTorque * > targetsTorque
 
std::vector< ControlTarget1DoFActuatorZeroVelocity * > targetsVel
 
std::vector< size_t > torqueControlledIndex
 
std::vector< size_t > velocityControlledIndex
 

Detailed Description

Definition at line 64 of file ZeroTorqueOrVelocityController.h.

Member Data Documentation

◆ bufferNonRtToRt

TripleBuffer<Config> bufferNonRtToRt

Definition at line 83 of file ZeroTorqueOrVelocityController.h.

◆ bufferRtConfigToOnPublish

TripleBuffer<Config> bufferRtConfigToOnPublish

Definition at line 84 of file ZeroTorqueOrVelocityController.h.

◆ bufferRtConfigToUser

TripleBuffer<Config> bufferRtConfigToUser

Definition at line 85 of file ZeroTorqueOrVelocityController.h.

◆ bufferRtStatusToOnPublish

TripleBuffer<law::ZeroTorqueOrVelocityController::RtStatus> bufferRtStatusToOnPublish

Definition at line 88 of file ZeroTorqueOrVelocityController.h.

◆ bufferRtStatusToUser

TripleBuffer<law::ZeroTorqueOrVelocityController::RtStatus> bufferRtStatusToUser

Definition at line 89 of file ZeroTorqueOrVelocityController.h.

◆ bufferRtToNonRt

TripleBuffer<law::ZeroTorqueOrVelocityController::RtStatus> bufferRtToNonRt

Definition at line 90 of file ZeroTorqueOrVelocityController.h.

◆ bufferUserToNonRt

TripleBuffer<Config> bufferUserToNonRt

set buffers

Definition at line 78 of file ZeroTorqueOrVelocityController.h.

◆ controller

law::ZeroTorqueOrVelocityController controller

Definition at line 75 of file ZeroTorqueOrVelocityController.h.

◆ jointNames

std::vector<std::string> jointNames

Definition at line 74 of file ZeroTorqueOrVelocityController.h.

◆ kinematicChainName

std::string kinematicChainName

Definition at line 73 of file ZeroTorqueOrVelocityController.h.

◆ nonRtConfig

Config nonRtConfig

Definition at line 80 of file ZeroTorqueOrVelocityController.h.

◆ nonRtRobot

VirtualRobot::RobotPtr nonRtRobot

Definition at line 96 of file ZeroTorqueOrVelocityController.h.

◆ rtConfig

Config rtConfig

Definition at line 82 of file ZeroTorqueOrVelocityController.h.

◆ rtFirstRun

std::atomic_bool rtFirstRun {true}

Definition at line 92 of file ZeroTorqueOrVelocityController.h.

◆ rtReady

std::atomic_bool rtReady {false}

Definition at line 93 of file ZeroTorqueOrVelocityController.h.

◆ rtStatus

law::ZeroTorqueOrVelocityController::RtStatus rtStatus

Definition at line 87 of file ZeroTorqueOrVelocityController.h.

◆ rtStatusInNonRT

law::ZeroTorqueOrVelocityController::RtStatus rtStatusInNonRT

Definition at line 81 of file ZeroTorqueOrVelocityController.h.

◆ sensorDevices

common::SensorDevicesForNJointTorqueController sensorDevices

Definition at line 66 of file ZeroTorqueOrVelocityController.h.

◆ targetsTorque

std::vector<ControlTarget1DoFActuatorZeroTorque*> targetsTorque

Definition at line 67 of file ZeroTorqueOrVelocityController.h.

◆ targetsVel

std::vector<ControlTarget1DoFActuatorZeroVelocity*> targetsVel

Definition at line 68 of file ZeroTorqueOrVelocityController.h.

◆ torqueControlledIndex

std::vector<size_t> torqueControlledIndex

Definition at line 70 of file ZeroTorqueOrVelocityController.h.

◆ velocityControlledIndex

std::vector<size_t> velocityControlledIndex

Definition at line 71 of file ZeroTorqueOrVelocityController.h.

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