CartesianImpedance Class Reference

cartesian impedance parameters More...

#include <FRIData.hh>

List of all members.

Public Member Functions
	CartesianImpedance ()
Public Attributes
float	D [6 *6]
	Damping matrix (ref-frame: base, ref-point: flanche)
float	ft [6]
	Desired force/torque (ref-frame: base, ref-point: flanche)
float	K [6 *6]
	Stiffness matrix (ref-frame: base, ref-point: flanche)
float	K_null
	Joint nullspace stiffness (Nm/rad)
Static Public Attributes
static const float	DEFAULT_DAMPING = 0.7
static const float	DEFAULT_ROT_STIFFNESS = 50
static const float	DEFAULT_TRANS_STIFFNESS = 50

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Detailed Description

cartesian impedance parameters

Definition at line 57 of file FRIData.hh.

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Constructor & Destructor Documentation

CartesianImpedance::CartesianImpedance

(

)

Definition at line 79 of file FRIComm.cc.

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Member Data Documentation

float CartesianImpedance::D[6 *6]

Damping matrix (ref-frame: base, ref-point: flanche)

Definition at line 65 of file FRIData.hh.

const float CartesianImpedance::DEFAULT_DAMPING = 0.7 [static]

Definition at line 62 of file FRIData.hh.

const float CartesianImpedance::DEFAULT_ROT_STIFFNESS = 50 [static]

Definition at line 61 of file FRIData.hh.

const float CartesianImpedance::DEFAULT_TRANS_STIFFNESS = 50 [static]

Definition at line 60 of file FRIData.hh.

float CartesianImpedance::ft[6]

Desired force/torque (ref-frame: base, ref-point: flanche)

Definition at line 66 of file FRIData.hh.

float CartesianImpedance::K[6 *6]

Stiffness matrix (ref-frame: base, ref-point: flanche)

Definition at line 64 of file FRIData.hh.

float CartesianImpedance::K_null

Joint nullspace stiffness (Nm/rad)

Definition at line 67 of file FRIData.hh.

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

• FRIData.hh
• FRIComm.cc