00001 #ifndef JOINT_GAINS_DATA_H 00002 #define JOINT_GAINS_DATA_H 00003 00004 #include <kdl/tree.hpp> 00005 #include <kdl/jntarray.hpp> 00006 #include <stdexcept> 00007 00008 class JointGainsData 00009 { 00010 public: 00011 JointGainsData(); 00012 ~JointGainsData(); 00013 00014 double naturalFreq; 00015 double dampingRatio; 00016 double stiffness; 00017 double damping; 00018 double windupLim; 00019 double prevWindup; 00020 double maxK; 00021 double maxD; 00022 double minD; 00023 double maxWn; 00024 double maxZeta; 00025 double scaleI; 00026 double mass; 00027 }; 00028 00029 #endif