tvm::task_dynamics::VelocityDamper::Config Class Reference

#include <tvm/task_dynamics/VelocityDamper.h>

Public Member Functions
	Config (double di, double ds, double xsi, double xsiOff=0)

Public Attributes
double	di_
double	ds_
double	xsi_
double	xsiOff_

Detailed Description

A structure grouping the parameters of a velocity damper.

See also

VelocityDamper.

Constructor & Destructor Documentation

Config()

tvm::task_dynamics::VelocityDamper::Config::Config	(	double	di,
		double	ds,
		double	xsi,
		double	xsiOff = 0
	)

Parameters

di	interaction distance \(d_i\). We need \( d_i > d_s \).
ds	safety distance \(d_s\).
xsi	damping parameter \(\xi \). If xsi = 0, the value will be computed automatically, otherwise, we need \(\xi > 0\). In automatic mode, the value is recomputed each time the error value is at a distance to its bound lower or equal to \di with the formula \( \xi = -\dfrac{d_i - d_s}{d^k - d_s} \dot{d}^k + \xi_{\mathrm{off}} \).
xsiOff	offset \( \xi_{\mathrm{off}} \) used in the automatic computation of \(\xi\). Used only in the case xsi=0.

Member Data Documentation

di_

double tvm::task_dynamics::VelocityDamper::Config::di_

ds_

double tvm::task_dynamics::VelocityDamper::Config::ds_

xsi_

double tvm::task_dynamics::VelocityDamper::Config::xsi_

xsiOff_

double tvm::task_dynamics::VelocityDamper::Config::xsiOff_

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

• include/tvm/task_dynamics/VelocityDamper.h