Definition: TaskState.h:58
Definition: TaskState.h:51
Eigen::VectorXd D
Definition: TaskState.h:115
Definition: TaskState.h:46
Eigen::VectorXd wrench_error
Definition: TaskState.h:106
Eigen::MatrixXd wrench_jacobian
Definition: TaskState.h:96
std::string control_frame
Definition: TaskState.h:54
Eigen::MatrixXd selection_matrix
Definition: TaskState.h:73
int cols
Definition: TaskState.h:71
struct orca::common::TaskState::Maths maths
Eigen::VectorXd P
Definition: TaskState.h:112
Eigen::VectorXd I
Definition: TaskState.h:113
Definition: TaskState.h:68
struct orca::common::TaskState::Frames frames
struct orca::common::TaskState::Current current
std::string base_frame
Definition: TaskState.h:53
Eigen::VectorXd control_frame_error
Definition: TaskState.h:104
Eigen::VectorXd upper_bound
Definition: TaskState.h:82
struct orca::common::TaskState::State state
Definition: TaskState.h:110
double update_time
Definition: TaskState.h:62
Eigen::VectorXd control_frame_velocity
Definition: TaskState.h:93
Eigen::VectorXd control_frame_position
Definition: TaskState.h:92
bool is_activated
Definition: TaskState.h:61
Eigen::VectorXd joint_error
Definition: TaskState.h:102
Eigen::VectorXd joint_position
Definition: TaskState.h:89
std::string name
Definition: TaskState.h:48
Eigen::MatrixXd Gradient
Definition: TaskState.h:79
Eigen::MatrixXd E
Definition: TaskState.h:76
Definition: TaskState.h:87
struct orca::common::TaskState::Error error
Definition: TaskState.h:100
Definition: CartesianAccelerationPID.h:44
double weight
Definition: TaskState.h:64
struct orca::common::TaskState::PID pid
ControlVariable
Definition: ControlVariable.h:44
Eigen::MatrixXd Hessian
Definition: TaskState.h:78
Eigen::VectorXd wrench_value
Definition: TaskState.h:95
ControlVariable control_variable
Definition: TaskState.h:49
Eigen::VectorXd f
Definition: TaskState.h:77
Eigen::VectorXd lower_bound
Definition: TaskState.h:81
Eigen::VectorXd windup_limit
Definition: TaskState.h:114
double dt
Definition: TaskState.h:63
Eigen::MatrixXd Weight
Definition: TaskState.h:74
bool is_initialized
Definition: TaskState.h:60
Eigen::VectorXd joint_velocity
Definition: TaskState.h:90
Eigen::MatrixXd constraint_matrix
Definition: TaskState.h:83
int rows
Definition: TaskState.h:70