TwistControllerParams Struct Reference

#include <cob_twist_controller_data_types.h>

Public Member Functions
void	from_config (cob_twist_controller::TwistControllerConfig config)
void	to_config (cob_twist_controller::TwistControllerConfig &config)
	TwistControllerParams ()

Public Attributes
double	beta
std::string	chain_base_link
std::string	chain_tip_link
std::vector< std::string >	collision_check_links
ConstraintTypesCA	constraint_ca
ConstraintTypesJLA	constraint_jla
std::map< ConstraintTypes, ConstraintParams >	constraint_params
std::string	controller_interface
double	damping_factor
DampingMethodTypes	damping_method
uint8_t	dof
double	eps_damping
double	eps_truncation
double	extension_ratio
std::vector< std::string >	frame_names
double	integrator_smoothing
std::vector< std::string >	joints
double	k_H
KinematicExtensionTypes	kinematic_extension
double	lambda_max
LimiterParams	limiter_params
LookatOffset	lookat_offset
std::string	lookat_pointing_frame
bool	numerical_filtering
uint32_t	priority_main
double	slope_damping
SolverTypes	solver
UJSSolverParams	ujs_solver_params
double	w_threshold

Detailed Description

Definition at line 209 of file cob_twist_controller_data_types.h.

Constructor & Destructor Documentation

TwistControllerParams::TwistControllerParams ( )

inline

Definition at line 211 of file cob_twist_controller_data_types.h.

Member Function Documentation

void TwistControllerParams::from_config ( cob_twist_controller::TwistControllerConfig  config )

inline

Definition at line 294 of file cob_twist_controller_data_types.h.

void TwistControllerParams::to_config ( cob_twist_controller::TwistControllerConfig &  config )

inline

Definition at line 355 of file cob_twist_controller_data_types.h.

Member Data Documentation

double TwistControllerParams::beta

Definition at line 267 of file cob_twist_controller_data_types.h.

std::string TwistControllerParams::chain_base_link

Definition at line 256 of file cob_twist_controller_data_types.h.

std::string TwistControllerParams::chain_tip_link

Definition at line 257 of file cob_twist_controller_data_types.h.

std::vector<std::string> TwistControllerParams::collision_check_links

Definition at line 292 of file cob_twist_controller_data_types.h.

ConstraintTypesCA TwistControllerParams::constraint_ca

Definition at line 276 of file cob_twist_controller_data_types.h.

ConstraintTypesJLA TwistControllerParams::constraint_jla

Definition at line 277 of file cob_twist_controller_data_types.h.

std::map<ConstraintTypes, ConstraintParams> TwistControllerParams::constraint_params

Definition at line 278 of file cob_twist_controller_data_types.h.

std::string TwistControllerParams::controller_interface

Definition at line 259 of file cob_twist_controller_data_types.h.

double TwistControllerParams::damping_factor

Definition at line 264 of file cob_twist_controller_data_types.h.

DampingMethodTypes TwistControllerParams::damping_method

Definition at line 263 of file cob_twist_controller_data_types.h.

uint8_t TwistControllerParams::dof

Definition at line 255 of file cob_twist_controller_data_types.h.

double TwistControllerParams::eps_damping

Definition at line 269 of file cob_twist_controller_data_types.h.

double TwistControllerParams::eps_truncation

Definition at line 270 of file cob_twist_controller_data_types.h.

double TwistControllerParams::extension_ratio

Definition at line 286 of file cob_twist_controller_data_types.h.

std::vector<std::string> TwistControllerParams::frame_names

Definition at line 288 of file cob_twist_controller_data_types.h.

double TwistControllerParams::integrator_smoothing

Definition at line 260 of file cob_twist_controller_data_types.h.

std::vector<std::string> TwistControllerParams::joints

Definition at line 289 of file cob_twist_controller_data_types.h.

double TwistControllerParams::k_H

Definition at line 274 of file cob_twist_controller_data_types.h.

KinematicExtensionTypes TwistControllerParams::kinematic_extension

Definition at line 283 of file cob_twist_controller_data_types.h.

double TwistControllerParams::lambda_max

Definition at line 265 of file cob_twist_controller_data_types.h.

LimiterParams TwistControllerParams::limiter_params

Definition at line 281 of file cob_twist_controller_data_types.h.

LookatOffset TwistControllerParams::lookat_offset

Definition at line 285 of file cob_twist_controller_data_types.h.

std::string TwistControllerParams::lookat_pointing_frame

Definition at line 284 of file cob_twist_controller_data_types.h.

bool TwistControllerParams::numerical_filtering

Definition at line 262 of file cob_twist_controller_data_types.h.

uint32_t TwistControllerParams::priority_main

Definition at line 273 of file cob_twist_controller_data_types.h.

double TwistControllerParams::slope_damping

Definition at line 268 of file cob_twist_controller_data_types.h.

SolverTypes TwistControllerParams::solver

Definition at line 272 of file cob_twist_controller_data_types.h.

UJSSolverParams TwistControllerParams::ujs_solver_params

Definition at line 280 of file cob_twist_controller_data_types.h.

double TwistControllerParams::w_threshold

Definition at line 266 of file cob_twist_controller_data_types.h.

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

• cob_twist_controller_data_types.h