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VelocityForceParameters Struct

Declaration​

struct moveit_pro_controllers::VelocityForceParameters { ... }

Included Headers​

#include <velocity_force_setpoint_generator.hpp>

Public Member Attributes Index​

intnum_joints = 0
doublewrench_gain = 1.0
Eigen::Isometry3dee_pose_control = Eigen::Isometry3d::Identity()
Eigen::Vector6bvelocity_controlled_axes = Eigen::Vector6b::Ones()
Eigen::Vector6bforce_controlled_axes = Eigen::Vector6b::Zero()
Eigen::Vector6dcartesian_velocity_limits = Eigen::Vector6d::Zero()
Eigen::Vector6dcartesian_acceleration_limits = Eigen::Vector6d::Zero()
Eigen::VectorNdjoint_velocity_limits
Eigen::VectorNdjoint_acceleration_limits
DiffForwardKinematicsFndiff_fk_fn = nullptr
DiffInverseKinematicsFndiff_ik_fn = nullptr
Eigen::VectorNdnullspace_component

Definition at line 25 of file velocity_force_setpoint_generator.hpp.

Public Member Attributes​

cartesian_acceleration_limits​

Eigen::Vector6d moveit_pro_controllers::VelocityForceParameters::cartesian_acceleration_limits = Eigen::Vector6d::Zero()

Definition at line 43 of file velocity_force_setpoint_generator.hpp.

cartesian_velocity_limits​

Eigen::Vector6d moveit_pro_controllers::VelocityForceParameters::cartesian_velocity_limits = Eigen::Vector6d::Zero()

Definition at line 42 of file velocity_force_setpoint_generator.hpp.

diff_fk_fn​

DiffForwardKinematicsFn moveit_pro_controllers::VelocityForceParameters::diff_fk_fn = nullptr

Definition at line 50 of file velocity_force_setpoint_generator.hpp.

diff_ik_fn​

DiffInverseKinematicsFn moveit_pro_controllers::VelocityForceParameters::diff_ik_fn = nullptr

Definition at line 51 of file velocity_force_setpoint_generator.hpp.

ee_pose_control​

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

Definition at line 34 of file velocity_force_setpoint_generator.hpp.

force_controlled_axes​

Eigen::Vector6b moveit_pro_controllers::VelocityForceParameters::force_controlled_axes = Eigen::Vector6b::Zero()

Definition at line 39 of file velocity_force_setpoint_generator.hpp.

joint_acceleration_limits​

Eigen::VectorNd moveit_pro_controllers::VelocityForceParameters::joint_acceleration_limits

Definition at line 47 of file velocity_force_setpoint_generator.hpp.

joint_velocity_limits​

Eigen::VectorNd moveit_pro_controllers::VelocityForceParameters::joint_velocity_limits

Definition at line 46 of file velocity_force_setpoint_generator.hpp.

nullspace_component​

Eigen::VectorNd moveit_pro_controllers::VelocityForceParameters::nullspace_component

Definition at line 55 of file velocity_force_setpoint_generator.hpp.

num_joints​

int moveit_pro_controllers::VelocityForceParameters::num_joints = 0

Definition at line 28 of file velocity_force_setpoint_generator.hpp.

velocity_controlled_axes​

Eigen::Vector6b moveit_pro_controllers::VelocityForceParameters::velocity_controlled_axes = Eigen::Vector6b::Ones()

Definition at line 38 of file velocity_force_setpoint_generator.hpp.

wrench_gain​

double moveit_pro_controllers::VelocityForceParameters::wrench_gain = 1.0

Definition at line 31 of file velocity_force_setpoint_generator.hpp.

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

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