robot_model::QPInverseVelocityParameters Struct Reference

parameters for the inverse velocity kinematics function More...

#include <Model.hpp>

Public Attributes
double	alpha = 0.1
double	proportional_gain = 1.0
double	linear_velocity_limit = 2.0
double	angular_velocity_limit = 2.0
std::chrono::nanoseconds	dt = 1000ns

Detailed Description

parameters for the inverse velocity kinematics function

Parameters

alpha	gain associated to the time slack variable
proportional_gain	gain to weight the cartesian coordinates in the gradient
linear_velocity_limit	maximum linear velocity allowed in Cartesian space (m/s)
angular_velocity_limit	maximum angular velocity allowed in Cartesian space (rad/s)
period	of the control loop (ns)

Definition at line 49 of file Model.hpp.

Member Data Documentation

alpha

double robot_model::QPInverseVelocityParameters::alpha = 0.1

Definition at line 50 of file Model.hpp.

angular_velocity_limit

double robot_model::QPInverseVelocityParameters::angular_velocity_limit = 2.0

Definition at line 53 of file Model.hpp.

dt

std::chrono::nanoseconds robot_model::QPInverseVelocityParameters::dt = 1000ns

Definition at line 54 of file Model.hpp.

linear_velocity_limit

double robot_model::QPInverseVelocityParameters::linear_velocity_limit = 2.0

Definition at line 52 of file Model.hpp.

proportional_gain

double robot_model::QPInverseVelocityParameters::proportional_gain = 1.0

Definition at line 51 of file Model.hpp.

---

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

• /github/workspace/source/robot_model/include/robot_model/Model.hpp