$search

RobotCommand Class Reference

command data for robot (to be executed within the next cycle) More...

#include <FRIData.hh>

List of all members.

Public Member Functions

void incrementPosition (float *newPos, float *currentPos, float rate)
 increment
 RobotCommand ()

Public Attributes

float addTorque [7]
 additional torque [Nm]
CartesianImpedance cartImpedance
float command [7]
 desired joint angle CHANGE [rad/s] (relative to current joint position)
float damping [7]
 damping [normaized 0..1]
float stiffness [7]
 stiffness [Nm/rad]
bool useCartesianImpedance

Static Private Attributes

static const float DEFAULT_DAMPING = 0.7
static const float DEFAULT_STIFFNESS = 40

Detailed Description

command data for robot (to be executed within the next cycle)

Definition at line 72 of file FRIData.hh.


Constructor & Destructor Documentation

RobotCommand::RobotCommand (  ) 

Definition at line 54 of file FRIComm.cc.


Member Function Documentation

void RobotCommand::incrementPosition ( float *  newPos,
float *  currentPos,
float  rate 
)

increment

Definition at line 66 of file FRIComm.cc.


Member Data Documentation

additional torque [Nm]

Definition at line 82 of file FRIData.hh.

Definition at line 85 of file FRIData.hh.

desired joint angle CHANGE [rad/s] (relative to current joint position)

Definition at line 79 of file FRIData.hh.

damping [normaized 0..1]

Definition at line 81 of file FRIData.hh.

const float RobotCommand::DEFAULT_DAMPING = 0.7 [static, private]

Definition at line 75 of file FRIData.hh.

const float RobotCommand::DEFAULT_STIFFNESS = 40 [static, private]

Definition at line 74 of file FRIData.hh.

stiffness [Nm/rad]

Definition at line 80 of file FRIData.hh.

Definition at line 84 of file FRIData.hh.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Defines


kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Tue Dec 4 09:02:46 2012