Public Member Functions | Private Member Functions | Private Attributes
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::ChainJntToJacSolverjnt2jac_
KDL::JntArray q_kdl_
float q_last_ [7]
Eigen::VectorXd S
Eigen::VectorXd Sp
Eigen::VectorXd tmp
Eigen::MatrixXd U
Eigen::MatrixXd V

Detailed Description

Definition at line 23 of file CartesianImpedance.hh.


Constructor & Destructor Documentation

Definition at line 32 of file CartesianImpedance.cc.

Definition at line 57 of file CartesianImpedance.cc.


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 
) [private]

Definition at line 131 of file CartesianImpedance.cc.


Member Data Documentation

Definition at line 39 of file CartesianImpedance.hh.

Definition at line 41 of file CartesianImpedance.hh.

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

Definition at line 46 of file CartesianImpedance.hh.

Definition at line 40 of file CartesianImpedance.hh.

KDL::JntArray CartesianImpedanceControl::q_kdl_ [private]

Definition at line 38 of file CartesianImpedance.hh.

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.


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


kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Mon Oct 6 2014 09:27:40