moveit_pro_controllers::AdmittanceState Struct Reference

#include <admittance.hpp>

Public Member Functions
	AdmittanceState (size_t num_joints)

Public Attributes
Eigen::Isometry3d	base_pose_ft_reference = Eigen::Isometry3d::Identity()
Eigen::Isometry3d	base_pose_ft = Eigen::Isometry3d::Identity()
Eigen::Isometry3d	base_pose_ee = Eigen::Isometry3d::Identity()
Eigen::Isometry3d	world_pose_base = Eigen::Isometry3d::Identity()
Eigen::VectorNd	current_joint_positions
Eigen::VectorNd	admittance_joint_positions
Eigen::VectorNd	admittance_joint_velocities
Eigen::VectorNd	admittance_joint_accelerations
Eigen::Vector6d	wrench_base = Eigen::Vector6d::Zero()
Eigen::Vector6d	admittance_velocity = Eigen::Vector6d::Zero()
Eigen::Vector6d	admittance_acceleration = Eigen::Vector6d::Zero()

Constructor & Destructor Documentation

AdmittanceState()

moveit_pro_controllers::AdmittanceState::AdmittanceState ( size_t  num_joints )

explicit

Member Data Documentation

admittance_acceleration

Eigen::Vector6d moveit_pro_controllers::AdmittanceState::admittance_acceleration = Eigen::Vector6d::Zero()

admittance_joint_accelerations

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::admittance_joint_accelerations

admittance_joint_positions

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::admittance_joint_positions

admittance_joint_velocities

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::admittance_joint_velocities

admittance_velocity

Eigen::Vector6d moveit_pro_controllers::AdmittanceState::admittance_velocity = Eigen::Vector6d::Zero()

base_pose_ee

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

base_pose_ft

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

base_pose_ft_reference

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

current_joint_positions

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::current_joint_positions

world_pose_base

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

wrench_base

Eigen::Vector6d moveit_pro_controllers::AdmittanceState::wrench_base = Eigen::Vector6d::Zero()

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

• admittance.hpp
• admittance.cpp