OpenHRP::ImpedanceControllerService::impedanceParam Struct Reference

Impedance controller parameters for one end-effector. More...

import "ImpedanceControllerService.idl";

List of all members.

Public Attributes
double	M_p
	Position mass [N/(m/s^2)].
double	D_p
	Position damper [N/(m/s)].
double	K_p
	Position spring [N/m].
double	M_r
	Rotation mass [Nm/(rad/s^2)].
double	D_r
	Rotation damper [N/(rad/s)].
double	K_r
	Rotation spring [N/rad].
DblSequence3	force_gain
	Force gain (x,y,z).
DblSequence3	moment_gain
	Moment gain (x,y,z).
double	sr_gain
	SR-inverse gain for inverse kinematics.
double	avoid_gain
	Avoid joint limit gain for inverse kinematics.
double	reference_gain
	Reference joint angles tracking gain for inverse kinematics.
double	manipulability_limit
	Manipulability limit for inverse kinematics.
ControllerMode	controller_mode
	Controller mode.
DblSequence	ik_optional_weight_vector
	Joint weight for Inverse Kinematics calculation.
boolean	use_sh_base_pos_rpy
	Use StateHolder basePos and baseRpy?

---

Detailed Description

Impedance controller parameters for one end-effector.

---

Member Data Documentation

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?

---

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

• ImpedanceControllerService.idl