hrl_haptic_mpc.haptic_mpc.MPCData Class Reference

Container class for the controller parameters. More...

List of all members.

Public Member Functions
def	__init__
def	__str__
	String representation of the data structure.
Public Attributes
	control_point_joint_num
	delta_f_max
	delta_f_min
	dist_g
	f_l
	f_n
	force_reduction_goal
	force_weight
	goal_posture
	Jc_l
	Je
	jep
	jerk_opt_weight
	K_j
	Kc_l
	loc_l
	max_force_mag
	n_l
	orient_weight
	phi_curr
	position_weight
	posture_weight
	q
	q_g_orient
	q_h_orient
	Rc_l
	stop
	time_step
	x_g
	x_h

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Detailed Description

Container class for the controller parameters.

Some of these are parameters rather than control data, but they're small cf. the data which changes at each timestep.

Definition at line 55 of file haptic_mpc.py.

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Constructor & Destructor Documentation

def hrl_haptic_mpc.haptic_mpc.MPCData.__init__	(		self,
			q,
			x_h,
			x_g,
			dist_g,
			goal_posture,
			q_h_orient,
			q_g_orient,
			position_weight,
			orient_weight,
			posture_weight,
			force_weight,
			force_reduction_goal,
			control_point_joint_num,
			Kc_l,
			Rc_l,
			Jc_l,
			Je,
			delta_f_min,
			delta_f_max,
			phi_curr,
			K_j,
			loc_l,
			n_l,
			f_l,
			f_n,
			jerk_opt_weight,
			max_force_mag,
			jep,
			time_step,
			stop
	)

Definition at line 56 of file haptic_mpc.py.

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Member Function Documentation

def hrl_haptic_mpc.haptic_mpc.MPCData.__str__

(

self

)

String representation of the data structure.

Useful for debugging.

Definition at line 100 of file haptic_mpc.py.

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Member Data Documentation

hrl_haptic_mpc::haptic_mpc.MPCData::control_point_joint_num

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::delta_f_max

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::delta_f_min

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::dist_g

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::f_l

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::f_n

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::force_reduction_goal

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::force_weight

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::goal_posture

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::Jc_l

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::Je

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::jep

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::jerk_opt_weight

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::K_j

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::Kc_l

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::loc_l

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::max_force_mag

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::n_l

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::orient_weight

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::phi_curr

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::position_weight

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::posture_weight

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::q

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::q_g_orient

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::q_h_orient

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::Rc_l

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::stop

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::time_step

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::x_g

Definition at line 56 of file haptic_mpc.py.

hrl_haptic_mpc::haptic_mpc.MPCData::x_h

Definition at line 56 of file haptic_mpc.py.

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

• haptic_mpc.py