ImpedanceOutputGenerator Struct Reference

#include <ImpedanceOutputGenerator.h>

Inheritance diagram for ImpedanceOutputGenerator:

List of all members.

Public Member Functions
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
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

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Detailed Description

Definition at line 6 of file ImpedanceOutputGenerator.h.

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Constructor & Destructor Documentation

ImpedanceOutputGenerator::ImpedanceOutputGenerator

(

)

[inline]

Definition at line 20 of file ImpedanceOutputGenerator.h.

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Member Function Documentation

void ImpedanceOutputGenerator::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 = ""
	)		[inline]

Definition at line 115 of file ImpedanceOutputGenerator.h.

void ImpedanceOutputGenerator::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 = ""
	)		[inline]

Definition at line 44 of file ImpedanceOutputGenerator.h.

const hrp::Vector3& ImpedanceOutputGenerator::getOutputPos

(

)

[inline]

Definition at line 29 of file ImpedanceOutputGenerator.h.

const hrp::Matrix33& ImpedanceOutputGenerator::getOutputRot

(

)

[inline]

Definition at line 28 of file ImpedanceOutputGenerator.h.

void ImpedanceOutputGenerator::resetPreviousCurrentParam

(

)

[inline]

Definition at line 37 of file ImpedanceOutputGenerator.h.

void ImpedanceOutputGenerator::resetPreviousTargetParam

(

)

[inline]

Definition at line 30 of file ImpedanceOutputGenerator.h.

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Member Data Documentation

hrp::Vector3 ImpedanceOutputGenerator::current_p1

Definition at line 14 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::current_r1

Definition at line 15 of file ImpedanceOutputGenerator.h.

double ImpedanceOutputGenerator::D_p

Definition at line 16 of file ImpedanceOutputGenerator.h.

double ImpedanceOutputGenerator::D_r

Definition at line 17 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::force_gain

Definition at line 18 of file ImpedanceOutputGenerator.h.

double ImpedanceOutputGenerator::K_p

Definition at line 16 of file ImpedanceOutputGenerator.h.

double ImpedanceOutputGenerator::K_r

Definition at line 17 of file ImpedanceOutputGenerator.h.

double ImpedanceOutputGenerator::M_p

Definition at line 16 of file ImpedanceOutputGenerator.h.

double ImpedanceOutputGenerator::M_r

Definition at line 17 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::moment_gain

Definition at line 18 of file ImpedanceOutputGenerator.h.

hrp::Vector3 ImpedanceOutputGenerator::output_p1

Definition at line 14 of file ImpedanceOutputGenerator.h.

hrp::Vector3 ImpedanceOutputGenerator::output_p2

Definition at line 14 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::output_r1

Definition at line 15 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::output_r2

Definition at line 15 of file ImpedanceOutputGenerator.h.

hrp::Vector3 ImpedanceOutputGenerator::target_p0

Definition at line 14 of file ImpedanceOutputGenerator.h.

hrp::Vector3 ImpedanceOutputGenerator::target_p1

Definition at line 14 of file ImpedanceOutputGenerator.h.

hrp::Vector3 ImpedanceOutputGenerator::target_p2

Definition at line 14 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::target_r0

Definition at line 15 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::target_r1

Definition at line 15 of file ImpedanceOutputGenerator.h.

hrp::Matrix33 ImpedanceOutputGenerator::target_r2

Definition at line 15 of file ImpedanceOutputGenerator.h.

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

• ImpedanceOutputGenerator.h