JointSoftLimitParams Struct Reference

#include <drake/systems/controllers/QPCommon.h>

Collaboration diagram for JointSoftLimitParams:

Public Member Functions
	JointSoftLimitParams (const RigidBodyTree &robot)

Public Attributes
Eigen::Matrix< bool, Eigen::Dynamic, 1 >	enabled
Eigen::VectorXi	disable_when_body_in_support
Eigen::VectorXd	lb
Eigen::VectorXd	ub
Eigen::VectorXd	kp
Eigen::VectorXd	kd
Eigen::VectorXd	weight
Eigen::VectorXd	k_logistic

Friends
bool	operator== (const JointSoftLimitParams &lhs, const JointSoftLimitParams &rhs)

Constructor & Destructor Documentation

JointSoftLimitParams ( const RigidBodyTree &  robot )

inlineexplicit

Friends And Related Function Documentation

bool operator== ( const JointSoftLimitParams &  lhs, const JointSoftLimitParams &  rhs  )

friend

Member Data Documentation

Eigen::VectorXi disable_when_body_in_support

Eigen::Matrix<bool, Eigen::Dynamic, 1> enabled

Eigen::VectorXd k_logistic

Eigen::VectorXd kd

Eigen::VectorXd kp

Eigen::VectorXd lb

Eigen::VectorXd ub

Eigen::VectorXd weight

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

• drake/systems/controllers/QPCommon.h