ocra::PointContactFeature::Pimpl Struct Reference

Collaboration diagram for ocra::PointContactFeature::Pimpl:

Public Member Functions
	Pimpl (ControlFrame::Ptr cf)

Public Attributes
ControlFrame::Ptr	controlFrame
MatrixXd	spaceTransform
VectorXd	error
VectorXd	errorDot
VectorXd	effort
VectorXd	acceleration
MatrixXd	jacobian
MatrixXd	M
MatrixXd	Minv

Detailed Description

Definition at line 305 of file Feature.cpp.

Constructor & Destructor Documentation

ocra::PointContactFeature::Pimpl::Pimpl ( ControlFrame::Ptr  cf )

inline

Definition at line 317 of file Feature.cpp.

Member Data Documentation

VectorXd ocra::PointContactFeature::Pimpl::acceleration

Definition at line 312 of file Feature.cpp.

ControlFrame::Ptr ocra::PointContactFeature::Pimpl::controlFrame

Definition at line 307 of file Feature.cpp.

VectorXd ocra::PointContactFeature::Pimpl::effort

Definition at line 311 of file Feature.cpp.

VectorXd ocra::PointContactFeature::Pimpl::error

Definition at line 309 of file Feature.cpp.

VectorXd ocra::PointContactFeature::Pimpl::errorDot

Definition at line 310 of file Feature.cpp.

MatrixXd ocra::PointContactFeature::Pimpl::jacobian

Definition at line 313 of file Feature.cpp.

MatrixXd ocra::PointContactFeature::Pimpl::M

Definition at line 314 of file Feature.cpp.

MatrixXd ocra::PointContactFeature::Pimpl::Minv

Definition at line 315 of file Feature.cpp.

MatrixXd ocra::PointContactFeature::Pimpl::spaceTransform

Definition at line 308 of file Feature.cpp.

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

• Feature.cpp