mc_tasks::force::ImpedanceGains Struct Reference

Represent impedance gains for an ImpedanceTask. More...

#include <mc_tasks/ImpedanceGains.h>

Collaboration diagram for mc_tasks::force::ImpedanceGains:

Public Member Functions
const EIGEN_MAKE_ALIGNED_OPERATOR_NEW details::ImpedanceVecd< true > &	M () const noexcept
details::ImpedanceVecd< true > &	M () noexcept
const details::ImpedanceVecd< true > &	mass () const noexcept
details::ImpedanceVecd< true > &	mass () noexcept
const details::ImpedanceVecd< false > &	D () const noexcept
details::ImpedanceVecd< false > &	D () noexcept
const details::ImpedanceVecd< false > &	damper () const noexcept
details::ImpedanceVecd< false > &	damper () noexcept
const details::ImpedanceVecd< false > &	K () const noexcept
details::ImpedanceVecd< false > &	K () noexcept
const details::ImpedanceVecd< false > &	spring () const noexcept
details::ImpedanceVecd< false > &	spring () noexcept
const details::ImpedanceVecd< false > &	wrench () const noexcept
details::ImpedanceVecd< false > &	wrench () noexcept

Static Public Member Functions
static ImpedanceGains	Default ()

Protected Attributes
details::ImpedanceVecd< true >	M_
details::ImpedanceVecd< false >	D_
details::ImpedanceVecd< false >	K_
details::ImpedanceVecd< false >	wrench_

Detailed Description

Represent impedance gains for an ImpedanceTask.

Member Function Documentation

D() [1/2]

const details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::D ( ) const

inlinenoexcept

Impedance damper parameter

D() [2/2]

details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::D ( )

inlinenoexcept

Impedance damper parameter

damper() [1/2]

const details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::damper ( ) const

inlinenoexcept

Impedance damper parameter

damper() [2/2]

details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::damper ( )

inlinenoexcept

Impedance damper parameter

Default()

static ImpedanceGains mc_tasks::force::ImpedanceGains::Default ( )

inlinestatic

Returns default gains for the ImpedanceTask

K() [1/2]

const details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::K ( ) const

inlinenoexcept

Impedance spring parameter

K() [2/2]

details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::K ( )

inlinenoexcept

Impedance spring parameter

M() [1/2]

const EIGEN_MAKE_ALIGNED_OPERATOR_NEW details::ImpedanceVecd<true>& mc_tasks::force::ImpedanceGains::M ( ) const

inlinenoexcept

Impedance mass parameter

M() [2/2]

details::ImpedanceVecd<true>& mc_tasks::force::ImpedanceGains::M ( )

inlinenoexcept

Impedance mass parameter

mass() [1/2]

const details::ImpedanceVecd<true>& mc_tasks::force::ImpedanceGains::mass ( ) const

inlinenoexcept

Impedance mass parameter

mass() [2/2]

details::ImpedanceVecd<true>& mc_tasks::force::ImpedanceGains::mass ( )

inlinenoexcept

Impedance mass parameter

spring() [1/2]

const details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::spring ( ) const

inlinenoexcept

Impedance spring parameter

spring() [2/2]

details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::spring ( )

inlinenoexcept

Impedance spring parameter

wrench() [1/2]

const details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::wrench ( ) const

inlinenoexcept

Impedance wrench gain

wrench() [2/2]

details::ImpedanceVecd<false>& mc_tasks::force::ImpedanceGains::wrench ( )

inlinenoexcept

Impedance wrench gain

Member Data Documentation

D_

details::ImpedanceVecd<false> mc_tasks::force::ImpedanceGains::D_

protected

Impedance damper parameter

K_

details::ImpedanceVecd<false> mc_tasks::force::ImpedanceGains::K_

protected

Impedance spring parameter

M_

details::ImpedanceVecd<true> mc_tasks::force::ImpedanceGains::M_

protected

Impedance mass parameter

wrench_

details::ImpedanceVecd<false> mc_tasks::force::ImpedanceGains::wrench_

protected

Impedance wrench gain

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

• include/mc_tasks/ImpedanceGains.h