Robot control input parameters. More...

#include <robot.h>

Public Attributes
Eigen::Vector< unsigned int, T::kRobotDOF >	feedback_gain {Eigen::Vector<unsigned int, T::kRobotDOF>::Zero()}
	Feedback gains for each joint.

Eigen::Vector< double, T::kRobotDOF >	feedforward_torque {Eigen::Vector<double, T::kRobotDOF>::Zero()}
	Feedforward torque for each joint [Nm].

bool	finish {false}
	Whether to finish the current control operation.

Eigen::Vector< bool, T::kRobotDOF >	mode {Eigen::Vector<bool, T::kRobotDOF>::Constant(false)}
	Control mode for each joint (boolean array).

Eigen::Vector< double, T::kRobotDOF >	target {Eigen::Vector<double, T::kRobotDOF>::Zero()}
	Target positions for each joint [rad].

Detailed Description

template<typename T>
struct rb::ControlInput< T >

Robot control input parameters.

Represents control input parameters for robot real-time control including mode, target, and gains.

Template Parameters

T	Robot model type

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

Public Attributes