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
◆ ImpedanceParam()
|
inline |
Definition at line 162 of file ImpedanceController.h.
Member Data Documentation
◆ avoid_gain
| double ImpedanceController::ImpedanceParam::avoid_gain |
Definition at line 156 of file ImpedanceController.h.
◆ is_active
| bool ImpedanceController::ImpedanceParam::is_active |
Definition at line 160 of file ImpedanceController.h.
◆ manip
| hrp::JointPathExPtr ImpedanceController::ImpedanceParam::manip |
Definition at line 159 of file ImpedanceController.h.
◆ manipulability_limit
| double ImpedanceController::ImpedanceParam::manipulability_limit |
Definition at line 156 of file ImpedanceController.h.
◆ ref_force
| hrp::Vector3 ImpedanceController::ImpedanceParam::ref_force |
Definition at line 155 of file ImpedanceController.h.
◆ ref_moment
| hrp::Vector3 ImpedanceController::ImpedanceParam::ref_moment |
Definition at line 155 of file ImpedanceController.h.
◆ reference_gain
| double ImpedanceController::ImpedanceParam::reference_gain |
Definition at line 156 of file ImpedanceController.h.
◆ sensor_name
| std::string ImpedanceController::ImpedanceParam::sensor_name |
Definition at line 154 of file ImpedanceController.h.
◆ sr_gain
| double ImpedanceController::ImpedanceParam::sr_gain |
Definition at line 156 of file ImpedanceController.h.
◆ transition_count
| int ImpedanceController::ImpedanceParam::transition_count |
Definition at line 157 of file ImpedanceController.h.
◆ transition_joint_q
| 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: