Actin  Version 5.5.5
Software for Robotics Simulation and Control
EcControlExpressionEndEffectorErrorFilter Class Reference

Holds the description of the end-effector error filter. More...

#include <ecContExpEndErrorFilter.h>

Inheritance diagram for EcControlExpressionEndEffectorErrorFilter:
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Collaboration diagram for EcControlExpressionEndEffectorErrorFilter:
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Classes

struct  LinkKinematicsInfo
 

Public Member Functions

 EcControlExpressionEndEffectorErrorFilter ()
 default constructor
 
 EcControlExpressionEndEffectorErrorFilter (const EcControlExpressionContainer *containerPointer)
 constructor from an EcControlExpressionContainer pointer
 
virtual ~EcControlExpressionEndEffectorErrorFilter ()
 destructor
 
 EcControlExpressionEndEffectorErrorFilter (const EcControlExpressionEndEffectorErrorFilter &orig)
 copy constructor
 
EcControlExpressionEndEffectorErrorFilteroperator= (const EcControlExpressionEndEffectorErrorFilter &orig)
 assignment operator
 
EcBoolean operator== (const EcControlExpressionEndEffectorErrorFilter &orig) const
 equality operator
 
virtual EcXmlObjectclone () const EC_OVERRIDE
 clone - a virtual constructor to an EcXmlObject pointer
 
virtual EcBoolean equality (const EcXmlObject *other) const EC_OVERRIDE
 equality - virtual equality to an EcXmlObject pointer
 
virtual EcXmlObjectnewObject () const EC_OVERRIDE
 virtual new that returns an EcXmlObject
 
virtual const EcVelocityControlDatavalue () const EC_OVERRIDE
 
virtual void registerComponents () EC_OVERRIDE
 registers components with the parent
 
virtual void setContainer (const EcXmlBaseVariableCompoundType *container) EC_OVERRIDE
 
virtual const EcControlExpressionContainerweights () const
 
virtual void setWeightsContainer (const EcControlExpressionContainer &weightsContainer)
 
virtual void setWeightsElement (const EcExpressionElement &weightsElement)
 
virtual EcReal defaultWeight () const
 
virtual void setDefaultWeight (EcReal defaultWeight)
 
virtual EcReal threshold () const
 
virtual void setThreshold (EcReal threshold)
 
virtual EcBoolean stopsAtLimits () const
 
virtual void setStopsAtLimits (EcBoolean stopsAtLimits=EcTrue)
 
virtual EcBoolean checkCollisionsOnBothPasses () const
 
virtual void setCheckCollisionsOnBothPasses (EcBoolean checkBothPasses=EcTrue)
 
virtual EcBoolean checkAllCollisions () const
 gets the check-all-collisions flag
 
virtual void setCheckAllCollisions (EcBoolean value)
 sets the check-all-collisions flag
 
virtual EcBoolean stopsAtCollisions () const
 
virtual void setStopsAtCollisions (EcBoolean stopsAtCollision=EcTrue)
 
virtual EcU32 bvhPrecisionLevel () const
 
virtual void setBvhPrecisionLevel (EcU32 level)
 
virtual void setProximityTool (const EcBaseProximityTool &value)
 set the proximity tool
 
virtual const EcTokentoken () const EC_OVERRIDE
 
virtual EcBoolean read (EcXmlReader &stream) EC_OVERRIDE
 
virtual void setCollisionStoppingThreshold (const EcReal &value)
 
virtual const EcRealcollisionStoppingThreshold () const
 
virtual void recordCollision (EcPropagationResultData &resultData, const EcU32 collideManipID1, const EcU32 collideLinkID1, const EcU32 collideManipID2, const EcU32 collideLinkID2) const
 Called from CollisionActive when a collision occurs.
 
virtual void recordClosestDistance (EcPropagationResultData &resultData, const EcU32 closestManipID1, EcU32 closestLinkID1, EcU32 closestManipID2, EcU32 closestLinkID2, EcReal closestDistance) const
 Updates closest distance information in propogation result data.
 
virtual const EcBoolean checkForCollision (EcPropagationResultData &resultData, const EcStatedSystem &statedSystem, EcSystemActiveState &sysActiveState, const EcU32 manipIndex) const
 
- Public Member Functions inherited from EcControlExpressionElement
 EcControlExpressionElement (const EcControlExpressionContainer *container)
 constructor from an EcControlExpressionContainer pointer
 
virtual const EcControlExpressionContainerunfilteredRates () const
 
virtual void setUnfilteredRatesContainer (const EcControlExpressionContainer &unfilteredRatesContainer)
 
virtual void setUnfilteredRatesElement (const EcExpressionElement &unfilteredRatesElement)
 
- Public Member Functions inherited from EcExpressionElement
 EcExpressionElement ()
 default constructor - should not be used
 
 EcExpressionElement (const EcExpressionContainer *containerPointer)
 constructor from an EcExpressionContainer pointer
 
virtual ~EcExpressionElement ()
 destructor
 
 EcExpressionElement (const EcExpressionElement &orig)
 copy constructor
 
EcExpressionElementoperator= (const EcExpressionElement &orig)
 assignment operator
 
EcBoolean operator== (const EcExpressionElement &orig) const
 equality operator
 
- Public Member Functions inherited from EcBaseExpressionTreeElement
 EcBaseExpressionTreeElement ()
 default constructor
 
 EcBaseExpressionTreeElement (const EcXmlBaseVariableCompoundType *containerPointer)
 constructor given container pointer
 
virtual ~EcBaseExpressionTreeElement ()
 destructor
 
 EcBaseExpressionTreeElement (const EcBaseExpressionTreeElement &orig)
 copy constructor
 
EcBaseExpressionTreeElementoperator= (const EcBaseExpressionTreeElement &orig)
 assignment operator
 
EcBoolean operator== (const EcBaseExpressionTreeElement &orig) const
 equality operator
 
virtual const EcXmlBaseVariableCompoundTypecontainer () const
 gets the container
 
- Public Member Functions inherited from EcXmlCompoundType
 ECDECLARE_BIGFOUR (EcXmlCompoundType)
 
virtual EcBoolean xmlInit () EC_OVERRIDE
 xmlInitialize
 
virtual EcBoolean readAttributes (EcXmlReader &stream)
 read object attributes from an XML stream
 
virtual EcBoolean readElements (EcXmlReader &stream)
 read object elements from an XML stream
 
virtual EcBoolean write (EcXmlWriter &stream) const EC_OVERRIDE
 write object to an XML stream
 
virtual EcBoolean writeAttributes (EcXmlWriter &stream) const
 write object attributes to an XML stream
 
virtual EcBoolean writeElements (EcXmlWriter &stream) const
 write object elements to an XML stream
 
virtual EcBoolean writeSchema (EcXmlSchema &stream) const EC_OVERRIDE
 write schema
 
virtual EcBoolean writeSchemaAttributes (EcXmlSchema &stream) const
 write schema attributes
 
virtual EcBoolean writeSchemaElements (EcXmlSchema &stream) const
 write schema elements
 
virtual void registerComponent (const EcToken &token, EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponent (EcXmlObject *obj)
 register a single component More...
 
virtual void registerComponentReadOnly (const EcToken &token, EcXmlObject *obj)
 register a single component as read-only More...
 
virtual const EcXmlComponentMapcomponentMap () const
 get a reference to the component map
 
virtual void registerAttributeComponent (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component More...
 
virtual void registerAttributeComponentReadOnly (const EcToken &AttribToken, EcXmlObject *Obj)
 register a single attribute component read-only More...
 
virtual const EcXmlComponentMapattributeComponentMap ()
 get a reference to the component attribute map
 
virtual const EcXmlSpecialDescriptorMapspecialDescriptorMap ()
 get a reference to the special-descriptor map
 
virtual void registerComponentDescriptor (const EcToken &xmlToken, const EcToken &descriptorToken, const EcString &descriptorString)
 register an XML token-string descriptor More...
 
virtual const EcXmlTokenStringDescriptorMapMaptokenStringDescriptorMap ()
 get a reference to the XML token-string descriptor map
 
virtual EcBoolean hasChildren () const
 return EcTrue if there are children components or EcFalse if an empty element.
 
virtual EcBoolean hasAttributes () const
 return EcTrue if there are attributes in the element.
 
- Public Member Functions inherited from EcXmlObject
 ECDECLARE_BIGFOUR (EcXmlObject)
 
virtual EcBoolean readAttribute (EcXmlReader &stream)
 read this attribute from an XML stream
 
virtual EcBoolean createSchema (const EcString &filename, const EcToken &objectName=EcXml::EcDefaultToken) const
 create schema
 
virtual EcBoolean xmlInitialized () const
 get XML initialized flag. This bit is set on initialization.
 
virtual void setXmlInitialized (EcBoolean val=EcTrue)
 set XML initialized flag. This bit is set on initialization.
 
virtual EcBoolean specified () const
 get specified flag. This bit is set upon reading from an XML file.
 
virtual void setSpecified (EcBoolean val=EcTrue)
 set specified flag. This bit is set upon reading from an XML file.
 
virtual EcBoolean isBasicType () const
 Return true/false for basic type.
 
virtual EcBoolean equalsDefault () const
 tests equality of XML object with default
 

Static Public Member Functions

static EcControlExpressionEndEffectorErrorFilter nullObject ()
 
static const EcTokenclassToken ()
 
static EcXmlObjectcreator ()
 

Protected Types

typedef std::vector< LinkKinematicsInfoManipulatorKinematicsInfo
 
typedef std::vector< ManipulatorKinematicsInfo > SystemKinematicsInfo
 

Protected Member Functions

virtual EcBaseProximityToolproximityTool ()
 get a non-const pointer to the proximity tool.
 
virtual const EcBaseProximityToolproximityTool () const
 get a const pointer to the proximity tool.
 
virtual void calculateInitialHandVelocity (const EcVelocityControlData &jointRates) const
 
virtual void calculateFinalHandVelocity (const EcVelocityControlData &jointRates) const
 
virtual EcBoolean calculateFilteredRates (const EcVelocityControlData &jointRates, const EcReArray &weights) const
 
virtual EcBoolean jointLimitActive (const EcReArray &jointRates, EcReal &normalizedTransitionTime) const
 
virtual EcBoolean jointLimitsActive (const EcReArray &jointRates, EcBooleanVector &jointLimitFlags) const
 
virtual EcBoolean collisionActive (const EcReArray &jointRates) const
 
virtual EcBoolean collisionActiveExternalCollisionDetection () const
 check to see if a collision is active based on existing collision information (performed externally).
 
virtual EcBoolean adjustWithNullSpaceComponent (EcReArray &jointRates) const
 
virtual EcBoolean removeNullSpaceComponent (EcReArray &jointRates) const
 
virtual void convertJointRatesToVelocityState (const EcReArray &jointRates, const EcIndividualManipulator *pManipulator, EcVelocityState &velState) const
 convert joint rates (EcReArray) to velocity state
 
virtual void stopCollidingJoints (const EcControlExpressionContainer *pContainer) const
 stop colliding joints
 
virtual EcBoolean findParentLink (const EcIndividualManipulatorVector &manips, const EcManipulatorAttachmentMap &attachMap, const EcLinkKey &thisLink, EcLinkKey &parentLink) const
 find parent link
 
virtual void stopLinkChain (const EcControlExpressionContainer *pContainer, const EcLinkKey *pRootLinkKey) const
 stop link chain
 
- Protected Member Functions inherited from EcXmlCompoundType
virtual EcBoolean readValueFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcBoolean readValueFromSpecialToken (const EcToken &token, EcXmlReader &stream)
 read value from unregistered token
 
virtual EcBoolean readAttributeFromToken (const EcToken &token, EcXmlReader &stream)
 
virtual EcXmlComponentMapnewComponentMap () const
 allocate a new componentMap
 
virtual EcXmlSpecialDescriptorMapnewSpecialDescriptorMap ()
 allocate a new specialDescriptorsMap
 
virtual EcXmlTokenStringDescriptorMapMapnewTokenStringDescriptorMap ()
 allocate a new tokenStringDescriptorsMap
 
virtual void createComponentMap () const
 create component map
 
virtual void createAttributeComponentMap ()
 create attribute component map
 
virtual void createSpecialDescriptorMap ()
 create special-descriptors map
 
virtual void createTokenStringDescriptorMap ()
 create token-string descriptor map
 
virtual EcBoolean isReadOnlyComponent (const EcToken token) const
 check to see if the token corresponds to a read-only component
 
virtual EcBoolean isReadOnlyAttribute (const EcToken token) const
 check to see if the token corresponds to a read-only attribute
 
virtual EcXmlObjectlibraryAttribute ()
 

Protected Attributes

EcControlExpressionContainer m_Weights
 the weights
 
EcXmlReal m_DefaultWeight
 a default weight value (used when DOC > size of m_Weights);
 
EcXmlReal m_Threshold
 the threshold
 
EcXmlBoolean m_StopsAtLimits
 a flag indicating whether or not to stop at joint-limit boundaries
 
EcXmlBoolean m_StopsAtCollisions
 a flag indicating whether or not to stop at collisions
 
EcXmlU32 m_BVHPrecision
 the level in the BVH to use for collision detection
 
EcXmlReal m_CollisionStoppingThreshold
 
EcXmlBoolean m_CheckCollisionsOnBothPasses
 
EcProximityToolContainer m_ProximityToolContainer
 proximity tool
 
EcXmlBoolean m_CheckAllCollisions
 check all collisions
 
EcManipulatorEndEffectorVelocity m_InitialHandVelocity
 non-XML data below More...
 
EcManipulatorEndEffectorVelocity m_FinalHandVelocity
 final hand velocity
 
EcEndEffectorTool m_EeTool
 end-effector tool
 
EcVelocityState m_NewVelocityState
 new velocity state
 
EcPositionState m_NewPositionState
 new position state
 
EcRealVector m_EndEffectorError
 end-effector error
 
EcReArray m_EndEffectorVelocity
 end-effector velocity
 
EcJacobianTool m_JTool
 Jacobian tool.
 
EcXmlRealVector m_BaseComponent
 base component
 
EcXmlRealVector m_NullSpaceComponent
 null-space component
 
EcManipulatorJacobian m_Jacobian
 Jacobian.
 
EcBooleanVector m_JointLimitFlags
 Flags indicating the joints whose limits are active.
 
EcManipulatorSystemState m_UtilityState
 utility state
 
EcPropagationResultDataVector m_UtilityPropagationResults
 propagation results
 
SystemKinematicsInfo m_SystemKinematicsInfo
 
- Protected Attributes inherited from EcControlExpressionElement
EcControlExpressionContainer m_UnfilteredRates
 the unfiltered joint rates
 
- Protected Attributes inherited from EcExpressionElement
EcVelocityControlData m_Array
 a real array to cache the returned value
 
- Protected Attributes inherited from EcBaseExpressionTreeElement
const EcXmlBaseVariableCompoundTypem_pContainer
 a pointer to the container
 
- Protected Attributes inherited from EcXmlCompoundType
EcXmlComponentMapm_pComponentMap
 
EcXmlComponentMapm_pAttributeComponentMap
 
EcXmlSpecialDescriptorMapm_pSpecialDescriptorMap
 
EcXmlTokenStringDescriptorMapMapm_pComponentMapTokenStringDescriptor
 
- Protected Attributes inherited from EcXmlObject
EcU8 m_State
 the state of the object - eight boolean flags
 

Additional Inherited Members

- Public Types inherited from EcXmlCompoundType
enum  {
  READONLYCOMPONENT = 0,
  READONLYATTRIBUTE
}
 special-descriptor codes More...
 
- Static Protected Attributes inherited from EcXmlObject
static const EcU8 m_theXmlInitializedBit
 the bit used to describe xml initialization
 
static const EcU8 m_theSpecifiedBit
 the bit used to describe specification
 

Detailed Description

Holds the description of the end-effector error filter.

This limits the two-norm of the end-effector velocity error.

Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.

Definition at line 19 of file ecContExpEndErrorFilter.h.

Member Function Documentation

virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::adjustWithNullSpaceComponent ( EcReArray jointRates) const
protectedvirtual

adjust the joint rates using the null-space component to avoid joint limits

Parameters
[in,out]jointRates(EcReArray&) The joint rates of the manipulator
virtual EcU32 EcControlExpressionEndEffectorErrorFilter::bvhPrecisionLevel ( ) const
virtual

gets the precision level

Returns
the bounding volume hierarchy precision level used in collision detection
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::calculateFilteredRates ( const EcVelocityControlData jointRates,
const EcReArray weights 
) const
protectedvirtual

calculate the filtered rates

Parameters
[in]jointRates(EcVelocityControlData&) The joint rates of the manipulator
[in]weights(EcReArray&) The weights
virtual void EcControlExpressionEndEffectorErrorFilter::calculateFinalHandVelocity ( const EcVelocityControlData jointRates) const
protectedvirtual

calculate the end-effector velocity at the end of the time step

Parameters
[in]jointRates(EcVelocityControlData&) The joint rates of the manipulator
virtual void EcControlExpressionEndEffectorErrorFilter::calculateInitialHandVelocity ( const EcVelocityControlData jointRates) const
protectedvirtual

calculate the end-effector velocity at the start of the time step

Parameters
[in]jointRates(EcVelocityControlData&) The joint rates of the manipulator
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::checkCollisionsOnBothPasses ( ) const
virtual

gets the check-collision-on-both-passes flag

Returns
the stops-at-limits flag
virtual const EcBoolean EcControlExpressionEndEffectorErrorFilter::checkForCollision ( EcPropagationResultData resultData,
const EcStatedSystem statedSystem,
EcSystemActiveState sysActiveState,
const EcU32  manipIndex 
) const
virtual

Checks the given manipulator for collision and records collision information in propagation result data

Reimplemented in EcControlExpressionEndEffectorErrorFilterWithCollFilteredStop.

static const EcToken& EcControlExpressionEndEffectorErrorFilter::classToken ( )
static

token for this class

Returns
(EcToken&) The class token
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::collisionActive ( const EcReArray jointRates) const
protectedvirtual

check to see if a collision is active. That is, do the unfiltered rates push any link into collision.

Parameters
[in]jointRates(EcReArray&) The joint rates of the manipulator
virtual const EcReal& EcControlExpressionEndEffectorErrorFilter::collisionStoppingThreshold ( ) const
virtual

get the collision stopping threshold

Returns
const EcReal& TODO(What is collision stopping threshold?)
static EcXmlObject* EcControlExpressionEndEffectorErrorFilter::creator ( )
static

static creator function

Returns
(EcXmlObject*) The cml objecct creator
virtual EcReal EcControlExpressionEndEffectorErrorFilter::defaultWeight ( ) const
virtual

gets the default weight

Returns
The default weight
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::jointLimitActive ( const EcReArray jointRates,
EcReal normalizedTransitionTime 
) const
protectedvirtual

check to see if a joint limit is active. That is, do the unfiltered rates push any joint beyond an upper or lower limit?

Parameters
[in]jointRates(EcReArray&) The joint rates of the manipulator
[in]normalizedTransitionTime(EcReal&) Normalized transition time (0-1) of when the first joint limit is crossed.
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::jointLimitsActive ( const EcReArray jointRates,
EcBooleanVector jointLimitFlags 
) const
protectedvirtual

check to see if joint limits are active. That is, do the unfiltered rates push any joint beyond an upper or lower limit?

Parameters
[in]jointRates(EcReArray&) The joint rates of the manipulator
[out]jointLimitFlagsThe flags indicating the joints whose joint rates push them beyond their limits
static EcControlExpressionEndEffectorErrorFilter EcControlExpressionEndEffectorErrorFilter::nullObject ( )
static

get a null object

Returns
(EcControlExpressionEndEffectorErrorFilter) The null object
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::read ( EcXmlReader stream)
virtual

read this object from an XML stream

Parameters
[in]stream(EcXmlReader&) Stream to be read

Reimplemented from EcXmlCompoundType.

virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::removeNullSpaceComponent ( EcReArray jointRates) const
protectedvirtual

remove the null-space component of the joint rates

Parameters
[in,out]jointRates(EcReArray&) The joint rates of the manipulator
virtual void EcControlExpressionEndEffectorErrorFilter::setBvhPrecisionLevel ( EcU32  level)
virtual

sets the precision level

Parameters
[in]levelThe bounding volume hierarchy precision level used in collision detection
virtual void EcControlExpressionEndEffectorErrorFilter::setCheckCollisionsOnBothPasses ( EcBoolean  checkBothPasses = EcTrue)
virtual

sets the check collisions on both passes flag

Parameters
[in]checBothPasses(EcBoolean) value to set (default value true)
virtual void EcControlExpressionEndEffectorErrorFilter::setCollisionStoppingThreshold ( const EcReal value)
virtual

set the collision stopping threshold

Parameters
[in]value(EcReal&) value to set
virtual void EcControlExpressionEndEffectorErrorFilter::setContainer ( const EcXmlBaseVariableCompoundType container)
virtual

sets the container

Parameters
[in]container(EcXmlBaseVariableCompoundType*) vale to set

Reimplemented from EcControlExpressionElement.

virtual void EcControlExpressionEndEffectorErrorFilter::setDefaultWeight ( EcReal  defaultWeight)
virtual

sets the default weight

Parameters
[in]defaultWeightValue to set
virtual void EcControlExpressionEndEffectorErrorFilter::setStopsAtCollisions ( EcBoolean  stopsAtCollision = EcTrue)
virtual

sets the stops-at-collisions flag

Parameters
[in]stopsAtCollisionvalue to set
virtual void EcControlExpressionEndEffectorErrorFilter::setStopsAtLimits ( EcBoolean  stopsAtLimits = EcTrue)
virtual

sets the stops-at-limits flag

Parameters
[in]stopsAtLimits(EcBoolean) value to set (default value true)
Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.
virtual void EcControlExpressionEndEffectorErrorFilter::setThreshold ( EcReal  threshold)
virtual

sets the threshold

Parameters
[in]threshold(EcReal) value to set
virtual void EcControlExpressionEndEffectorErrorFilter::setWeightsContainer ( const EcControlExpressionContainer weightsContainer)
virtual

sets the weights container

Parameters
[in]weightsContainer(EcControlExpressionContainer&) The control expression container
virtual void EcControlExpressionEndEffectorErrorFilter::setWeightsElement ( const EcExpressionElement weightsElement)
virtual

sets the weights element

Parameters
[in]weightsElementvalue to set
Examples:
ecCollisionAvoidanceExample.cpp, and ecProgrammaticConstructionMain.cpp.
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::stopsAtCollisions ( ) const
virtual

gets the stops-at-collisions flag

Returns
The stop-at-collision flag
virtual EcBoolean EcControlExpressionEndEffectorErrorFilter::stopsAtLimits ( ) const
virtual

gets the stops-at-limits flag

Returns
the stops-at-limits flag
virtual EcReal EcControlExpressionEndEffectorErrorFilter::threshold ( ) const
virtual

gets the threshold

Returns
the threshold
virtual const EcToken& EcControlExpressionEndEffectorErrorFilter::token ( ) const
virtual

return a token

Returns
(EcToken&) The xml token

Implements EcXmlObject.

virtual const EcVelocityControlData& EcControlExpressionEndEffectorErrorFilter::value ( ) const
virtual

return the value

Returns
(EcVelocityControlData&) The velocity cotrol data object

Implements EcExpressionElement.

virtual const EcControlExpressionContainer& EcControlExpressionEndEffectorErrorFilter::weights ( ) const
virtual

gets the weights

Returns
The control expression controller weights

Member Data Documentation

EcXmlBoolean EcControlExpressionEndEffectorErrorFilter::m_CheckCollisionsOnBothPasses
protected

A flag indicating whether or not to check collisions on both passes of the two pass position control this flag is only applied if collision stopping is turned on in this element.

Definition at line 423 of file ecContExpEndErrorFilter.h.

EcXmlReal EcControlExpressionEndEffectorErrorFilter::m_CollisionStoppingThreshold
protected

Collision stopping threshold. Distance from a collision where the control system should stop The default for this is 0

Definition at line 419 of file ecContExpEndErrorFilter.h.

EcManipulatorEndEffectorVelocity EcControlExpressionEndEffectorErrorFilter::m_InitialHandVelocity
mutableprotected

non-XML data below

initial hand velocity

Definition at line 432 of file ecContExpEndErrorFilter.h.


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