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ImFusion SDK 4.3
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ImFusion SDK 4.3
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Inheritance diagram for CartesianSetpointTorqueController:Public Member Functions | |
| CartesianSetpointTorqueController (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface) | |
| virtual MotionStep< JointTorques > | operator() (const ControlIterationInfo &controlIterationInfo, const isom3 &world_T_effector_desired)=0 |
| Public Member Functions inherited from TorqueControllerBase | |
| TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, std::unique_ptr< DynamicsInterface > ownedModelInterface) | |
| TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface) | |
| bool | init (const RobotState &state) |
| TorqueControllerParametersInterface * | parameters () |
| template<typename ParametersType> | |
| ParametersType * | typedParameters () |
Additional Inherited Members | |
| Protected Member Functions inherited from TorqueControllerBase | |
| virtual bool | initImpl ()=0 |
| Protected Attributes inherited from TorqueControllerBase | |
| bool | m_inited = false |
| size_t | m_numberOfJoints = 0 |
| std::unique_ptr< const RobotState > | m_initState |
| std::unique_ptr< TorqueControllerParametersInterface > | m_parameters |
| std::unique_ptr< DynamicsInterface > | m_ownedModelInterface |
| DynamicsInterface & | m_dynamicsInterface |
