Public Member Functions | Public Attributes
ImpedanceOutputGenerator Struct Reference

#include <ImpedanceOutputGenerator.h>

Inheritance diagram for ImpedanceOutputGenerator:
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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::Vector3getOutputPos ()
const hrp::Matrix33getOutputRot ()
 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

Detailed Description

Definition at line 6 of file ImpedanceOutputGenerator.h.


Constructor & Destructor Documentation

Definition at line 20 of file ImpedanceOutputGenerator.h.


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.

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Definition at line 30 of file ImpedanceOutputGenerator.h.


Member Data Documentation

Definition at line 14 of file ImpedanceOutputGenerator.h.

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Definition at line 14 of file ImpedanceOutputGenerator.h.

Definition at line 14 of file ImpedanceOutputGenerator.h.

Definition at line 14 of file ImpedanceOutputGenerator.h.

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Definition at line 15 of file ImpedanceOutputGenerator.h.

Definition at line 15 of file ImpedanceOutputGenerator.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:20