Mujoco KDL Wrapper  0.5.1
MuJoCo + KDL bridge for robot kinematics and dynamics
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RneaController Struct Reference

Public Member Functions

 RneaController (Scene &scene, const KDL::JntArray &q_posture)
KDL::Frame tcp ()
void track (const KDL::Frame &target)

Public Attributes

Scene & s
KDL::ChainFkSolverPos_recursive fk
KDL::ChainJntToJacSolver jac_solver
KDL::ChainIkSolverVel_wdls ik_acc
KDL::ChainIdSolver_RNE rnea
const KDL::JntArray posture
KDL::JntArray q
KDL::JntArray qd
KDL::JntArray qdd
KDL::JntArray z
KDL::JntArray tau
KDL::Jacobian jac
KDL::Wrenches f_ext

Detailed Description

Definition at line 181 of file ex_admittance_ft.cpp.

Constructor & Destructor Documentation

◆ RneaController()

RneaController::RneaController ( Scene & scene,
const KDL::JntArray & q_posture )
inline

Definition at line 183 of file ex_admittance_ft.cpp.

References f_ext, fk, ik_acc, jac, jac_solver, posture, q, qd, qdd, rnea, s, tau, and z.

Member Function Documentation

◆ tcp()

KDL::Frame RneaController::tcp ( )
inline

Definition at line 193 of file ex_admittance_ft.cpp.

References fk, q, and s.

Referenced by main(), and track().

◆ track()

void RneaController::track ( const KDL::Frame & target)
inline

Definition at line 201 of file ex_admittance_ft.cpp.

References KDL::diff(), f_ext, ik_acc, jac, jac_solver, posture, q, qd, qdd, rnea, KDL::Twist::rot, s, tau, tcp(), KDL::Twist::vel, KDL::Vector::x(), KDL::Vector::y(), KDL::Vector::z(), z, and KDL::Twist::Zero().

Member Data Documentation

◆ f_ext

KDL::Wrenches RneaController::f_ext

Definition at line 247 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ fk

KDL::ChainFkSolverPos_recursive RneaController::fk

Definition at line 240 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and tcp().

◆ ik_acc

KDL::ChainIkSolverVel_wdls RneaController::ik_acc

Definition at line 242 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ jac

KDL::Jacobian RneaController::jac

Definition at line 246 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ jac_solver

KDL::ChainJntToJacSolver RneaController::jac_solver

Definition at line 241 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ posture

const KDL::JntArray RneaController::posture

Definition at line 244 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ q

KDL::JntArray RneaController::q

Definition at line 245 of file ex_admittance_ft.cpp.

Referenced by RneaController(), tcp(), and track().

◆ qd

KDL::JntArray RneaController::qd

Definition at line 245 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ qdd

KDL::JntArray RneaController::qdd

Definition at line 245 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ rnea

KDL::ChainIdSolver_RNE RneaController::rnea

Definition at line 243 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ s

Scene& RneaController::s

Definition at line 239 of file ex_admittance_ft.cpp.

Referenced by RneaController(), tcp(), and track().

◆ tau

KDL::JntArray RneaController::tau

Definition at line 245 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

◆ z

KDL::JntArray RneaController::z

Definition at line 245 of file ex_admittance_ft.cpp.

Referenced by RneaController(), and track().

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