lmc_controller_cartesian_admittance_config Struct Reference

Cartesian admiitance controler config data struct. More...

#include <lmc_controller.h>

Collaboration diagram for lmc_controller_cartesian_admittance_config:

Data Fields
lmc_transform_t	task_frame
unsigned int	selection_vector [6]
lmc_wrench_t	wrench
unsigned int	type
double	limits [6]

Detailed Description

Cartesian admiitance controler config data struct.

Definition at line 35 of file lmc_controller.h.

Field Documentation

double limits[6]

limits data, for compliant direction, it refers to velocity, for none comliant direction, it refers to position.

Definition at line 41 of file lmc_controller.h.

unsigned int selection_vector[6]

Selection vector for compliant direction in sequence of x,y,z,rx,ry,rz.

Definition at line 38 of file lmc_controller.h.

lmc_transform_t task_frame

Task frame for control

Definition at line 37 of file lmc_controller.h.

unsigned int type

Type of force control. 1: frame; 2: point; 3: motion.

Definition at line 40 of file lmc_controller.h.

lmc_wrench_t wrench

Control force, in task_frame.

Definition at line 39 of file lmc_controller.h.

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

• lmc_controller.h