moveit_pro_controllers::VelocityForceParameters Struct Reference

#include <velocity_force_setpoint_generator.hpp>

Public Attributes
int	num_joints = 0
double	wrench_gain = 1.0
Eigen::Isometry3d	ee_pose_control = Eigen::Isometry3d::Identity()
Eigen::Vector6b	velocity_controlled_axes = Eigen::Vector6b::Ones()
Eigen::Vector6b	force_controlled_axes = Eigen::Vector6b::Zero()
Eigen::Vector6d	cartesian_velocity_limits = Eigen::Vector6d::Zero()
Eigen::Vector6d	cartesian_acceleration_limits = Eigen::Vector6d::Zero()
Eigen::VectorNd	joint_velocity_limits
Eigen::VectorNd	joint_acceleration_limits
DiffForwardKinematicsFn	diff_fk_fn = nullptr
DiffInverseKinematicsFn	diff_ik_fn = nullptr
Eigen::VectorNd	nullspace_component

Member Data Documentation

cartesian_acceleration_limits

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

cartesian_velocity_limits

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

diff_fk_fn

DiffForwardKinematicsFn moveit_pro_controllers::VelocityForceParameters::diff_fk_fn = nullptr

diff_ik_fn

DiffInverseKinematicsFn moveit_pro_controllers::VelocityForceParameters::diff_ik_fn = nullptr

ee_pose_control

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

force_controlled_axes

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

joint_acceleration_limits

Eigen::VectorNd moveit_pro_controllers::VelocityForceParameters::joint_acceleration_limits

joint_velocity_limits

Eigen::VectorNd moveit_pro_controllers::VelocityForceParameters::joint_velocity_limits

nullspace_component

Eigen::VectorNd moveit_pro_controllers::VelocityForceParameters::nullspace_component

num_joints

int moveit_pro_controllers::VelocityForceParameters::num_joints = 0

velocity_controlled_axes

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

wrench_gain

double moveit_pro_controllers::VelocityForceParameters::wrench_gain = 1.0

---

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

• velocity_force_setpoint_generator.hpp