CartesianImpedanceControl Class Reference

#include <CartesianImpedance.hh>

List of all members.

Public Member Functions
	CartesianImpedanceControl ()
tFriCmdData	computeRobotCommand (const tFriMsrData &state, const tFriCmdData &cmd, const CartesianImpedance &imp, const float *cmdpos)
	~CartesianImpedanceControl ()
Private Member Functions
template<typename T1 , typename T2 >
void	pinv (Eigen::DenseBase< T1 > &J, Eigen::DenseBase< T2 > &Jinv, double eps=1e-13)
Private Attributes
KDL::Chain	chain_
KDL::Jacobian	J_kdl_
Eigen::Matrix< float, 7, 6 >	Jinv
KDL::ChainJntToJacSolver *	jnt2jac_
KDL::JntArray	q_kdl_
float	q_last_ [7]
Eigen::VectorXd	S
Eigen::VectorXd	Sp
Eigen::VectorXd	tmp
Eigen::MatrixXd	U
Eigen::MatrixXd	V

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Detailed Description

Definition at line 23 of file CartesianImpedance.hh.

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Constructor & Destructor Documentation

CartesianImpedanceControl::CartesianImpedanceControl

(

)

Definition at line 32 of file CartesianImpedance.cc.

CartesianImpedanceControl::~CartesianImpedanceControl

(

)

Definition at line 57 of file CartesianImpedance.cc.

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Member Function Documentation

tFriCmdData CartesianImpedanceControl::computeRobotCommand	(	const tFriMsrData &	fri_msr,
		const tFriCmdData &	fri_cmd,
		const CartesianImpedance &	imp,
		const float *	cmdpos
	)

adds torques to cmd.addTorque and replaces cmd.stiffness, cmd.damping and cmd.command

Definition at line 65 of file CartesianImpedance.cc.

template<typename T1 , typename T2 >

void CartesianImpedanceControl::pinv	(	Eigen::DenseBase< T1 > &	J,
		Eigen::DenseBase< T2 > &	Jinv,
		double	eps = 1e-13
	)			[inline, private]

Definition at line 131 of file CartesianImpedance.cc.

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Member Data Documentation

KDL::Chain CartesianImpedanceControl::chain_ [private]

Definition at line 39 of file CartesianImpedance.hh.

KDL::Jacobian CartesianImpedanceControl::J_kdl_ [private]

Definition at line 41 of file CartesianImpedance.hh.

Eigen::Matrix<float, 7, 6> CartesianImpedanceControl::Jinv [private]

Definition at line 46 of file CartesianImpedance.hh.

KDL::ChainJntToJacSolver* CartesianImpedanceControl::jnt2jac_ [private]

Definition at line 40 of file CartesianImpedance.hh.

KDL::JntArray CartesianImpedanceControl::q_kdl_ [private]

Definition at line 38 of file CartesianImpedance.hh.

float CartesianImpedanceControl::q_last_[7] [private]

Definition at line 36 of file CartesianImpedance.hh.

Eigen::VectorXd CartesianImpedanceControl::S [private]

Definition at line 47 of file CartesianImpedance.hh.

Eigen::VectorXd CartesianImpedanceControl::Sp [private]

Definition at line 47 of file CartesianImpedance.hh.

Eigen::VectorXd CartesianImpedanceControl::tmp [private]

Definition at line 47 of file CartesianImpedance.hh.

Eigen::MatrixXd CartesianImpedanceControl::U [private]

Definition at line 45 of file CartesianImpedance.hh.

Eigen::MatrixXd CartesianImpedanceControl::V [private]

Definition at line 45 of file CartesianImpedance.hh.

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The documentation for this class was generated from the following files:

• CartesianImpedance.hh
• CartesianImpedance.cc