OSCAR::ImpedanceFilter Class Reference

#include <ImpedanceFilter.h>

Inheritance diagram for OSCAR::ImpedanceFilter:


Public Methods
	ImpedanceFilter (unsigned int noOutputs)
virtual	~ImpedanceFilter ()
bool	SetTimeStep (double dt)
virtual bool	SetImpedance (const VectorArray &parameters)
virtual Vector &	GetModifiedHandPose (Vector &x_d, Vector &force_d, Vector &force)
Vector &	GetImpedanceError (Vector &x_d, Vector &x, Vector &force_d, Vector &force)
Protected Attributes
unsigned int	noOfOutputs
Matrix	Kd
Matrix	Bd
Matrix	Kf
Vector	efc
Vector	efc_1
Vector	efc_2
Vector	erc
Vector	erc_1
Vector	erc_2
Vector	x_c
Vector	ef
Vector	ef_1
Vector	ef_2
Vector	er
Vector	er_1
Vector	er_2
Vector	error
double	T
double	T2

Constructor & Destructor Documentation

OSCAR::ImpedanceFilter::ImpedanceFilter ( unsigned int noOutputs )

virtual OSCAR::ImpedanceFilter::~ImpedanceFilter ( ) [virtual]

Vector& OSCAR::ImpedanceFilter::GetImpedanceError ( Vector & x_d,

Vector & x,

Vector & force_d,

Vector & force

)

virtual Vector& OSCAR::ImpedanceFilter::GetModifiedHandPose ( Vector & x_d,

Vector & force_d,

Vector & force

) [virtual]

virtual bool OSCAR::ImpedanceFilter::SetImpedance ( const VectorArray & parameters ) [virtual]

bool OSCAR::ImpedanceFilter::SetTimeStep ( double dt )

Matrix OSCAR::ImpedanceFilter::Bd [protected]

Vector OSCAR::ImpedanceFilter::ef [protected]

Vector OSCAR::ImpedanceFilter::ef_1 [protected]

Vector OSCAR::ImpedanceFilter::ef_2 [protected]

Vector OSCAR::ImpedanceFilter::efc [protected]

Vector OSCAR::ImpedanceFilter::efc_1 [protected]

Vector OSCAR::ImpedanceFilter::efc_2 [protected]

Vector OSCAR::ImpedanceFilter::er [protected]

Vector OSCAR::ImpedanceFilter::er_1 [protected]

Vector OSCAR::ImpedanceFilter::er_2 [protected]

Vector OSCAR::ImpedanceFilter::erc [protected]

Vector OSCAR::ImpedanceFilter::erc_1 [protected]

Vector OSCAR::ImpedanceFilter::erc_2 [protected]

Vector OSCAR::ImpedanceFilter::error [protected]

Reimplemented from OSCAR::Base.

Matrix OSCAR::ImpedanceFilter::Kd [protected]

Matrix OSCAR::ImpedanceFilter::Kf [protected]

unsigned int OSCAR::ImpedanceFilter::noOfOutputs [protected]

double OSCAR::ImpedanceFilter::T [protected]

double OSCAR::ImpedanceFilter::T2 [protected]

Vector OSCAR::ImpedanceFilter::x_c [protected]

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