PosCtrlParams Struct Reference

#include <UndercarriageCtrlGeom.h>

Public Attributes
double	dDamp
double	dDDPhiMax
double	dDPhiMax
double	dSpring
double	dVirtM

Detailed Description

Definition at line 254 of file UndercarriageCtrlGeom.h.

Member Data Documentation

double PosCtrlParams::dDamp

Definition at line 265 of file UndercarriageCtrlGeom.h.

double PosCtrlParams::dDDPhiMax

Definition at line 265 of file UndercarriageCtrlGeom.h.

double PosCtrlParams::dDPhiMax

Definition at line 265 of file UndercarriageCtrlGeom.h.

double PosCtrlParams::dSpring

----— Position Controller Steer Wheels ----— Impedance-Ctrlr Prms -> model Stiffness via Spring-Damper-Modell -> only oriented at impedance-ctrl (no forces commanded) m_dSpring Spring-constant (elasticity) m_dDamp Damping coefficient (also prop. for Velocity Feedforward) m_dVirtM Virtual Mass of Spring-Damper System m_dDPhiMax maximum angular velocity (cut-off) m_dDDPhiMax maximum angular acceleration (cut-off)

Definition at line 265 of file UndercarriageCtrlGeom.h.

double PosCtrlParams::dVirtM

Definition at line 265 of file UndercarriageCtrlGeom.h.

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

• UndercarriageCtrlGeom.h