Inheritance diagram for ImpedanceController::ImpedanceParam:

Public Member Functions
	ImpedanceParam ()

Public Member Functions inherited from ImpedanceOutputGenerator
void	calcTargetVelocity (hrp::Vector3 &vel_p, hrp::Vector3 &vel_r, const hrp::Matrix33 &eeR, const hrp::Vector3 &force_diff, const hrp::Vector3 &moment_diff, const double _dt, const bool printp=false, const std::string &print_str="", const std::string &ee_name="")

void	calcTargetVelocityOrg (hrp::Vector3 &vel_p, hrp::Vector3 &vel_r, const hrp::Matrix33 &eeR, const hrp::Vector3 &force_diff, const hrp::Vector3 &moment_diff, const double _dt, const bool printp=false, const std::string &print_str="", const std::string &ee_name="")

const hrp::Vector3 &	getOutputPos ()

const hrp::Matrix33 &	getOutputRot ()

	ImpedanceOutputGenerator ()

void	resetPreviousCurrentParam ()

void	resetPreviousTargetParam ()

Public Attributes
double	avoid_gain

bool	is_active

hrp::JointPathExPtr	manip

double	manipulability_limit

hrp::Vector3	ref_force

hrp::Vector3	ref_moment

double	reference_gain

std::string	sensor_name

double	sr_gain

int	transition_count

hrp::dvector	transition_joint_q

Public Attributes inherited from ImpedanceOutputGenerator
hrp::Vector3	current_p1

hrp::Matrix33	current_r1

double	D_p

double	D_r

hrp::Matrix33	force_gain

double	K_p

double	K_r

double	M_p

double	M_r

hrp::Matrix33	moment_gain

hrp::Vector3	output_p1

hrp::Vector3	output_p2

hrp::Matrix33	output_r1

hrp::Matrix33	output_r2

hrp::Vector3	target_p0

hrp::Vector3	target_p1

hrp::Vector3	target_p2

hrp::Matrix33	target_r0

hrp::Matrix33	target_r1

hrp::Matrix33	target_r2

Detailed Description

Definition at line 153 of file ImpedanceController.h.

Constructor & Destructor Documentation

ImpedanceController::ImpedanceParam::ImpedanceParam ( )

inline

Definition at line 162 of file ImpedanceController.h.

double ImpedanceController::ImpedanceParam::avoid_gain

Definition at line 156 of file ImpedanceController.h.

bool ImpedanceController::ImpedanceParam::is_active

Definition at line 160 of file ImpedanceController.h.

hrp::JointPathExPtr ImpedanceController::ImpedanceParam::manip

Definition at line 159 of file ImpedanceController.h.

double ImpedanceController::ImpedanceParam::manipulability_limit

Definition at line 156 of file ImpedanceController.h.

hrp::Vector3 ImpedanceController::ImpedanceParam::ref_force

Definition at line 155 of file ImpedanceController.h.

hrp::Vector3 ImpedanceController::ImpedanceParam::ref_moment

Definition at line 155 of file ImpedanceController.h.

double ImpedanceController::ImpedanceParam::reference_gain

Definition at line 156 of file ImpedanceController.h.

std::string ImpedanceController::ImpedanceParam::sensor_name

Definition at line 154 of file ImpedanceController.h.

double ImpedanceController::ImpedanceParam::sr_gain

Definition at line 156 of file ImpedanceController.h.

int ImpedanceController::ImpedanceParam::transition_count

Definition at line 157 of file ImpedanceController.h.

hrp::dvector ImpedanceController::ImpedanceParam::transition_joint_q

Definition at line 158 of file ImpedanceController.h.

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