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

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Detailed Description

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

Definition at line 72 of file FRIData.hh.

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Constructor & Destructor Documentation

RobotCommand::RobotCommand

(

)

Definition at line 54 of file FRIComm.cc.

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Member Function Documentation

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

increment

Definition at line 66 of file FRIComm.cc.

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Member Data Documentation

float RobotCommand::addTorque[7]

additional torque [Nm]

Definition at line 82 of file FRIData.hh.

CartesianImpedance RobotCommand::cartImpedance

Definition at line 85 of file FRIData.hh.

float RobotCommand::command[7]

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

Definition at line 79 of file FRIData.hh.

float RobotCommand::damping[7]

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.

float RobotCommand::stiffness[7]

stiffness [Nm/rad]

Definition at line 80 of file FRIData.hh.

bool RobotCommand::useCartesianImpedance

Definition at line 84 of file FRIData.hh.

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

• FRIData.hh
• FRIComm.cc