Public Member Functions | Public Attributes | Static Public Attributes
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

Detailed Description

cartesian impedance parameters

Definition at line 57 of file FRIData.hh.


Constructor & Destructor Documentation

Definition at line 79 of file FRIComm.cc.


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.

Definition at line 60 of file FRIData.hh.

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.

Joint nullspace stiffness (Nm/rad)

Definition at line 67 of file FRIData.hh.


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


kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Mon Oct 6 2014 09:27:40