admittance_ft::SceneHandles Struct Reference

#include <admittance_ft_common.hpp>

Public Member Functions
void	cleanup ()

Public Attributes
mjModel *	model = nullptr
mjData *	data = nullptr
mj_kdl::SceneSpec	scene
mj_kdl::Env	env
mj_kdl::Robot	robot
int	tool_body_id = -1

Detailed Description

Definition at line 152 of file admittance_ft_common.hpp.

Member Function Documentation

cleanup()

void admittance_ft::SceneHandles::cleanup ( )

inline

Definition at line 161 of file admittance_ft_common.hpp.

References mj_kdl::cleanup(), data, mj_kdl::destroy_scene(), model, and robot.

Referenced by admittance_ft::run().

Member Data Documentation

data

mjData* admittance_ft::SceneHandles::data = nullptr

Definition at line 155 of file admittance_ft_common.hpp.

Referenced by admittance_ft::build_scene(), cleanup(), admittance_ft::run(), admittance_ft::run_gui(), admittance_ft::run_selfcheck(), and admittance_ft::settle_and_tare().

env

mj_kdl::Env admittance_ft::SceneHandles::env

Definition at line 157 of file admittance_ft_common.hpp.

Referenced by admittance_ft::build_scene(), admittance_ft::run(), and admittance_ft::run_gui().

model

mjModel* admittance_ft::SceneHandles::model = nullptr

Definition at line 154 of file admittance_ft_common.hpp.

Referenced by admittance_ft::build_scene(), cleanup(), admittance_ft::run(), admittance_ft::run_gui(), admittance_ft::run_selfcheck(), and admittance_ft::settle_and_tare().

robot

mj_kdl::Robot admittance_ft::SceneHandles::robot

Definition at line 158 of file admittance_ft_common.hpp.

Referenced by admittance_ft::build_scene(), cleanup(), admittance_ft::run(), admittance_ft::run_gui(), admittance_ft::run_selfcheck(), and admittance_ft::settle_and_tare().

scene

mj_kdl::SceneSpec admittance_ft::SceneHandles::scene

Definition at line 156 of file admittance_ft_common.hpp.

Referenced by admittance_ft::build_scene(), admittance_ft::run_gui(), and admittance_ft::run_selfcheck().

tool_body_id

int admittance_ft::SceneHandles::tool_body_id = -1

Definition at line 159 of file admittance_ft_common.hpp.

Referenced by admittance_ft::build_scene().

---

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

• src/examples/admittance_ft_common.hpp