admittance_controller::AdmittanceState Struct Reference

Public Member Functions
	AdmittanceState (size_t num_joints)

Public Attributes
Eigen::VectorXd	current_joint_pos
Eigen::VectorXd	joint_pos
Eigen::VectorXd	joint_vel
Eigen::VectorXd	joint_acc
Eigen::Matrix< double, 6, 1 >	damping
Eigen::Matrix< double, 6, 1 >	mass
Eigen::Matrix< double, 6, 1 >	mass_inv
Eigen::Matrix< double, 6, 1 >	selected_axes
Eigen::Matrix< double, 6, 1 >	stiffness
Eigen::Matrix< double, 6, 1 >	wrench_base
Eigen::Matrix< double, 6, 1 >	admittance_acceleration
Eigen::Matrix< double, 6, 1 >	admittance_velocity
Eigen::Isometry3d	admittance_position
Eigen::Matrix< double, 3, 3 >	rot_base_control
Eigen::Isometry3d	ref_trans_base_ft
std::string	ft_sensor_frame

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

• ros2_controllers/admittance_controller/include/admittance_controller/admittance_rule.hpp