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AdmittanceParameters Struct

Declaration​

struct moveit_pro_controllers::AdmittanceParameters { ... }

Included Headers​

#include <admittance.hpp>

Public Operators Index​

booloperator== (const AdmittanceParameters &other) const

Public Member Attributes Index​

std::stringend_effector_frame
doubleend_effector_mass = 0.0
Eigen::Vector3dend_effector_cog = Eigen::Vector3d::Zero()
Eigen::Vector3dgravity_vector = Eigen::Vector3d(0.0, 0.0, -9.8)
Eigen::Vector6ddamping = Eigen::Vector6d::Zero()
Eigen::Vector6dmass_inv = Eigen::Vector6d::Zero()
Eigen::Vector6dselected_axes = Eigen::Vector6d::Zero()
Eigen::Vector6dstiffness = Eigen::Vector6d::Zero()
Eigen::Isometry3dee_pose_control = Eigen::Isometry3d::Identity()
Eigen::Vector6dabsolute_force_torque_threshold = Eigen::Vector6d::Zero()

Definition at line 19 of file admittance.hpp.

Public Operators​

operator==()​

bool moveit_pro_controllers::AdmittanceParameters::operator== (const AdmittanceParameters & other)
 inline

Definition at line 44 of file admittance.hpp.

Public Member Attributes​

absolute_force_torque_threshold​

Eigen::Vector6d moveit_pro_controllers::AdmittanceParameters::absolute_force_torque_threshold = Eigen::Vector6d::Zero()

Definition at line 40 of file admittance.hpp.

damping​

Eigen::Vector6d moveit_pro_controllers::AdmittanceParameters::damping = Eigen::Vector6d::Zero()

Definition at line 31 of file admittance.hpp.

ee_pose_control​

Eigen::Isometry3d moveit_pro_controllers::AdmittanceParameters::ee_pose_control = Eigen::Isometry3d::Identity()

Definition at line 37 of file admittance.hpp.

end_effector_cog​

Eigen::Vector3d moveit_pro_controllers::AdmittanceParameters::end_effector_cog = Eigen::Vector3d::Zero()

Definition at line 25 of file admittance.hpp.

end_effector_frame​

std::string moveit_pro_controllers::AdmittanceParameters::end_effector_frame

Definition at line 21 of file admittance.hpp.

end_effector_mass​

double moveit_pro_controllers::AdmittanceParameters::end_effector_mass = 0.0

Definition at line 24 of file admittance.hpp.

gravity_vector​

Eigen::Vector3d moveit_pro_controllers::AdmittanceParameters::gravity_vector = Eigen::Vector3d(0.0, 0.0, -9.8)

Definition at line 28 of file admittance.hpp.

mass_inv​

Eigen::Vector6d moveit_pro_controllers::AdmittanceParameters::mass_inv = Eigen::Vector6d::Zero()

Definition at line 32 of file admittance.hpp.

selected_axes​

Eigen::Vector6d moveit_pro_controllers::AdmittanceParameters::selected_axes = Eigen::Vector6d::Zero()

Definition at line 33 of file admittance.hpp.

stiffness​

Eigen::Vector6d moveit_pro_controllers::AdmittanceParameters::stiffness = Eigen::Vector6d::Zero()

Definition at line 34 of file admittance.hpp.

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

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