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AdmittanceState Struct

Declaration​

struct moveit_pro_controllers::AdmittanceState { ... }

Included Headers​

#include <admittance.hpp>

Public Constructors Index​

AdmittanceState (size_t num_joints, size_t num_tips)

Public Member Attributes Index​

const size_tnum_tips
std::vector< Eigen::Isometry3d >base_poses_ft_reference
std::vector< Eigen::Isometry3d >base_poses_ft
std::vector< Eigen::Isometry3d >base_poses_ee
Eigen::Isometry3dworld_pose_base = Eigen::Isometry3d::Identity()
Eigen::VectorNdcurrent_joint_positions
Eigen::VectorNdadmittance_joint_positions
Eigen::VectorNdadmittance_joint_velocities
Eigen::VectorNdadmittance_joint_accelerations
std::vector< Eigen::Vector6d >wrench_bases
std::vector< Eigen::Vector6d >admittance_velocities
std::vector< Eigen::Vector6d >admittance_accelerations

Definition at line 62 of file admittance.hpp.

Public Constructors​

AdmittanceState()​

moveit_pro_controllers::AdmittanceState::AdmittanceState (size_t num_joints, size_t num_tips)
 explicit

Declaration at line 65 of file admittance.hpp, definition at line 95 of file admittance.cpp.

Public Member Attributes​

admittance_accelerations​

std::vector<Eigen::Vector6d> moveit_pro_controllers::AdmittanceState::admittance_accelerations

Definition at line 95 of file admittance.hpp.

admittance_joint_accelerations​

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::admittance_joint_accelerations

Definition at line 88 of file admittance.hpp.

admittance_joint_positions​

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::admittance_joint_positions

Definition at line 86 of file admittance.hpp.

admittance_joint_velocities​

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::admittance_joint_velocities

Definition at line 87 of file admittance.hpp.

admittance_velocities​

std::vector<Eigen::Vector6d> moveit_pro_controllers::AdmittanceState::admittance_velocities

Definition at line 94 of file admittance.hpp.

base_poses_ee​

std::vector<Eigen::Isometry3d> moveit_pro_controllers::AdmittanceState::base_poses_ee

Definition at line 76 of file admittance.hpp.

base_poses_ft​

std::vector<Eigen::Isometry3d> moveit_pro_controllers::AdmittanceState::base_poses_ft

Definition at line 73 of file admittance.hpp.

base_poses_ft_reference​

std::vector<Eigen::Isometry3d> moveit_pro_controllers::AdmittanceState::base_poses_ft_reference

Definition at line 70 of file admittance.hpp.

current_joint_positions​

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::current_joint_positions

Definition at line 82 of file admittance.hpp.

num_tips​

const size_t moveit_pro_controllers::AdmittanceState::num_tips

Definition at line 67 of file admittance.hpp.

world_pose_base​

Eigen::Isometry3d moveit_pro_controllers::AdmittanceState::world_pose_base = Eigen::Isometry3d::Identity()

Definition at line 79 of file admittance.hpp.

wrench_bases​

std::vector<Eigen::Vector6d> moveit_pro_controllers::AdmittanceState::wrench_bases

Definition at line 91 of file admittance.hpp.

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

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