moveit_pro_controllers::AdmittanceParameters Struct Reference

#include <admittance.hpp>

Public Member Functions
bool	operator== (const AdmittanceParameters &other) const

Public Attributes
double	end_effector_mass = 0.0
Eigen::Vector3d	end_effector_cog = Eigen::Vector3d::Zero()
Eigen::Vector3d	gravity_vector = Eigen::Vector3d(0.0, 0.0, -9.8)
Eigen::Vector6d	damping = Eigen::Vector6d::Zero()
Eigen::Vector6d	mass_inv = Eigen::Vector6d::Ones()
Eigen::Vector6d	selected_axes = Eigen::Vector6d::Ones()
Eigen::Vector6d	stiffness = Eigen::Vector6d::Ones()
double	joint_damping = 0.0
Eigen::Isometry3d	ee_pose_control = Eigen::Isometry3d::Identity()

Member Function Documentation

operator==()

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

inline

Member Data Documentation

damping

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

ee_pose_control

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

end_effector_cog

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

end_effector_mass

double moveit_pro_controllers::AdmittanceParameters::end_effector_mass = 0.0

gravity_vector

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

joint_damping

double moveit_pro_controllers::AdmittanceParameters::joint_damping = 0.0

mass_inv

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

selected_axes

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

stiffness

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

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

• admittance.hpp