hxCommand Struct Reference

Motor command data. More...

#include <haptix.h>

Data Fields
float	gain_pos [32]
	Target position feedback gains (Nm/rad). More...
int	gain_pos_enabled
	A value <= 0 disables gain_pos, any other value enables gain_pos. More...
float	gain_vel [32]
	Target velocity feedback gains (Nms/rad). More...
int	gain_vel_enabled
	A value <= 0 disables gain_vel, any other value enables gain_vel. More...
float	ref_pos [32]
	Target reference positions (rad). More...
int	ref_pos_enabled
	A value <= 0 disables ref_pos, any other value enables ref_pos. More...
float	ref_vel_max [32]
	Target reference velocities (rad/s). More...
int	ref_vel_max_enabled
	A value <= 0 disables ref_vel_max, any other value enables ref_vel_max. More...

Detailed Description

Motor command data.

This data structure specifies the next request to be send to the simulated limb model.

It is an input of the function hx_update(const hxCommand*, hxSensor*).

Field Documentation

float hxCommand::gain_pos[32]

Target position feedback gains (Nm/rad).

An array of floats of size hxMAXMOTOR. Entries 0 through hxRobotInfo::nmotors-1 contain the position gain that will be applied during the update phase of the model controller.

See also

gain_pos_count

int hxCommand::gain_pos_enabled

A value <= 0 disables gain_pos, any other value enables gain_pos.

See also

gain_pos

float hxCommand::gain_vel[32]

Target velocity feedback gains (Nms/rad).

An array of floats of size hxMAXMOTOR. Entries 0 through hxRobotInfo::nmotors-1 contain the velocity gain that will be applied during the update phase of the model controller.

See also

gain_vel_count

int hxCommand::gain_vel_enabled

A value <= 0 disables gain_vel, any other value enables gain_vel.

See also

gain_vel

float hxCommand::ref_pos[32]

Target reference positions (rad).

An array of floats of size hxMAXMOTOR. Entries 0 through hxRobotInfo::nmotors-1 contain the desired angular positions for each motor.

See also

ref_pos_count

int hxCommand::ref_pos_enabled

A value <= 0 disables ref_pos, any other value enables ref_pos.

See also

ref_pos

float hxCommand::ref_vel_max[32]

Target reference velocities (rad/s).

An array of floats of size hxMAXMOTOR. Entries 0 through hxRobotInfo::nmotors-1 contain the desired angular velocities for each motor.

See also

ref_vel_max_count

int hxCommand::ref_vel_max_enabled

A value <= 0 disables ref_vel_max, any other value enables ref_vel_max.

See also

ref_vel_max

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

• haptix.h