Basic RT components and utilities
315.15.0
|
Impedance controller parameters for one end-effector. More...
import"ImpedanceControllerService.idl";
Public Attributes | |
double | M_p |
Position mass [N/(m/s^2)]. More... | |
double | D_p |
Position damper [N/(m/s)]. More... | |
double | K_p |
Position spring [N/m]. More... | |
double | M_r |
Rotation mass [Nm/(rad/s^2)]. More... | |
double | D_r |
Rotation damper [N/(rad/s)]. More... | |
double | K_r |
Rotation spring [N/rad]. More... | |
DblSequence3 | force_gain |
Force gain (x,y,z). More... | |
DblSequence3 | moment_gain |
Moment gain (x,y,z). More... | |
double | sr_gain |
SR-inverse gain for inverse kinematics. More... | |
double | avoid_gain |
Avoid joint limit gain for inverse kinematics. More... | |
double | reference_gain |
Reference joint angles tracking gain for inverse kinematics. More... | |
double | manipulability_limit |
Manipulability limit for inverse kinematics. More... | |
ControllerMode | controller_mode |
Controller mode. More... | |
DblSequence | ik_optional_weight_vector |
Joint weight for Inverse Kinematics calculation. More... | |
boolean | use_sh_base_pos_rpy |
Use StateHolder basePos and baseRpy? More... | |
Impedance controller parameters for one end-effector.
double OpenHRP::ImpedanceControllerService::impedanceParam::avoid_gain |
Avoid joint limit gain for inverse kinematics.
ControllerMode OpenHRP::ImpedanceControllerService::impedanceParam::controller_mode |
Controller mode.
double OpenHRP::ImpedanceControllerService::impedanceParam::D_p |
Position damper [N/(m/s)].
double OpenHRP::ImpedanceControllerService::impedanceParam::D_r |
Rotation damper [N/(rad/s)].
DblSequence3 OpenHRP::ImpedanceControllerService::impedanceParam::force_gain |
Force gain (x,y,z).
DblSequence OpenHRP::ImpedanceControllerService::impedanceParam::ik_optional_weight_vector |
Joint weight for Inverse Kinematics calculation.
double OpenHRP::ImpedanceControllerService::impedanceParam::K_p |
Position spring [N/m].
double OpenHRP::ImpedanceControllerService::impedanceParam::K_r |
Rotation spring [N/rad].
double OpenHRP::ImpedanceControllerService::impedanceParam::M_p |
Position mass [N/(m/s^2)].
double OpenHRP::ImpedanceControllerService::impedanceParam::M_r |
Rotation mass [Nm/(rad/s^2)].
double OpenHRP::ImpedanceControllerService::impedanceParam::manipulability_limit |
Manipulability limit for inverse kinematics.
DblSequence3 OpenHRP::ImpedanceControllerService::impedanceParam::moment_gain |
Moment gain (x,y,z).
double OpenHRP::ImpedanceControllerService::impedanceParam::reference_gain |
Reference joint angles tracking gain for inverse kinematics.
double OpenHRP::ImpedanceControllerService::impedanceParam::sr_gain |
SR-inverse gain for inverse kinematics.
boolean OpenHRP::ImpedanceControllerService::impedanceParam::use_sh_base_pos_rpy |
Use StateHolder basePos and baseRpy?