#include <WrenchDistribution.h>

Public Member Functions
void	load (const mc_rtc::Configuration &mcRtcConfig)
	Load mc_rtc configuration. More...

Public Attributes
sva::MotionVecd	wrenchWeight = sva::MotionVecd(Eigen::Vector3d(1.0, 1.0, 1.0), Eigen::Vector3d(1.0, 1.0, 1.0))
	Wrench distribution weight. More...

double	regularWeight = 1e-8
	Weight of QP regularization. More...

std::pair< double, double >	ridgeForceMinMax = std::make_pair(3, 1000)
	Min/max ridge force. More...

Detailed Description

Configuration.

Definition at line 15 of file WrenchDistribution.h.

Member Function Documentation

◆ load()

void ForceColl::WrenchDistribution::Configuration::load ( const mc_rtc::Configuration & mcRtcConfig )

Load mc_rtc configuration.

Parameters

mcRtcConfig mc_rtc configuration

Member Data Documentation

◆ regularWeight

double ForceColl::WrenchDistribution::Configuration::regularWeight = 1e-8

Weight of QP regularization.

Definition at line 21 of file WrenchDistribution.h.

◆ ridgeForceMinMax

std::pair<double, double> ForceColl::WrenchDistribution::Configuration::ridgeForceMinMax = std::make_pair(3, 1000)

Min/max ridge force.

Definition at line 24 of file WrenchDistribution.h.

◆ wrenchWeight

sva::MotionVecd ForceColl::WrenchDistribution::Configuration::wrenchWeight = sva::MotionVecd(Eigen::Vector3d(1.0, 1.0, 1.0), Eigen::Vector3d(1.0, 1.0, 1.0))

Wrench distribution weight.

Definition at line 18 of file WrenchDistribution.h.

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

/home/runner/work/ForceControlCollection/ForceControlCollection/colcon_ws/src/isri-aist/ForceControlCollection/include/ForceColl/WrenchDistribution.h

Public Member Functions