Libbarrett  1.2.4
Public Member Functions | Public Attributes | Protected Member Functions
HapticCollisionAvoid< DOF > Class Template Reference
Inheritance diagram for HapticCollisionAvoid< DOF >:
barrett::systems::SingleIO< units::CartesianPosition::type, units::CartesianForce::type > barrett::systems::System barrett::systems::SingleInput< units::CartesianPosition::type > barrett::systems::SingleOutput< units::CartesianForce::type > barrett::systems::Conversion< units::CartesianForce::type >

List of all members.

Public Member Functions

 HapticCollisionAvoid (const double &kpIn=3000, const double &sphereRad=0.35, const std::string &sysName="HapticCollisionAvoid")

Public Attributes

cp_type wamCP
cp_type collisionCP
cp_type sphereCenter
cp_type collisionVec
cf_type cfHapticCmd
double kp
double sphereRadius

Protected Member Functions

virtual void operate ()

template<size_t DOF>
class HapticCollisionAvoid< DOF >

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