#include <admittance.hpp>

Public Member Functions
	AdmittanceState (size_t num_joints, size_t num_tips)

Public Attributes
const size_t	num_tips_

std::vector< Eigen::Isometry3d >	base_poses_ft_reference

std::vector< Eigen::Isometry3d >	base_poses_ft

std::vector< Eigen::Isometry3d >	base_poses_ee

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

std::vector< Eigen::Vector6d >	wrench_bases

std::vector< Eigen::Vector6d >	admittance_velocities

std::vector< Eigen::Vector6d >	admittance_accelerations

Constructor & Destructor Documentation

◆ AdmittanceState()

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

explicit

Member Data Documentation

◆ admittance_accelerations

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

◆ 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_velocities

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

◆ base_poses_ee

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

◆ base_poses_ft

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

◆ base_poses_ft_reference

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

◆ current_joint_positions

Eigen::VectorNd moveit_pro_controllers::AdmittanceState::current_joint_positions

◆ num_tips_

const size_t moveit_pro_controllers::AdmittanceState::num_tips_

◆ world_pose_base

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

◆ wrench_bases

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

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

Public Member Functions

Public Attributes