Variables
	robot_model = RobotModelRBDL()

	r = RobotModelConfig()

	file_or_string

	solver = HierarchicalLSSolver()

	cfg = TaskConfig()

	name

	root

	tip

	ref_frame

	priority

	activation

	type

	weights

	scene = VelocityScene(robot_model, solver, 0.001)

	ctrl = CartesianPosPDController()

	setpoint = RigidBodyStateSE3()

	position

	orientation

	feedback = RigidBodyStateSE3()

	control_output = RigidBodyStateSE3()

	joint_state = Joints()

	js = JointState()

	elements

	names

	start = time.time()

float	sample_time = 0.01

	qp = scene.update()

	solver_output = scene.solve(qp)

Variable Documentation

◆ activation

cart_pos_ctrl_hls_solver.activation

◆ cfg

cart_pos_ctrl_hls_solver.cfg = TaskConfig()

◆ control_output

cart_pos_ctrl_hls_solver.control_output = RigidBodyStateSE3()

◆ ctrl

cart_pos_ctrl_hls_solver.ctrl = CartesianPosPDController()

◆ elements

cart_pos_ctrl_hls_solver.elements

◆ feedback

cart_pos_ctrl_hls_solver.feedback = RigidBodyStateSE3()

◆ file_or_string

cart_pos_ctrl_hls_solver.file_or_string

◆ joint_state

cart_pos_ctrl_hls_solver.joint_state = Joints()

◆ js

cart_pos_ctrl_hls_solver.js = JointState()

◆ name

cart_pos_ctrl_hls_solver.name

◆ names

cart_pos_ctrl_hls_solver.names

◆ orientation

cart_pos_ctrl_hls_solver.orientation

◆ position

cart_pos_ctrl_hls_solver.position

◆ priority

cart_pos_ctrl_hls_solver.priority

◆ qp

cart_pos_ctrl_hls_solver.qp = scene.update()

◆ r

cart_pos_ctrl_hls_solver.r = RobotModelConfig()

◆ ref_frame

cart_pos_ctrl_hls_solver.ref_frame

◆ robot_model

cart_pos_ctrl_hls_solver.robot_model = RobotModelRBDL()

◆ root

cart_pos_ctrl_hls_solver.root

◆ sample_time

float cart_pos_ctrl_hls_solver.sample_time = 0.01

◆ scene

cart_pos_ctrl_hls_solver.scene = VelocityScene(robot_model, solver, 0.001)

◆ setpoint

cart_pos_ctrl_hls_solver.setpoint = RigidBodyStateSE3()

◆ solver

cart_pos_ctrl_hls_solver.solver = HierarchicalLSSolver()

◆ solver_output

cart_pos_ctrl_hls_solver.solver_output = scene.solve(qp)

◆ start

cart_pos_ctrl_hls_solver.start = time.time()

◆ tip

cart_pos_ctrl_hls_solver.tip

◆ type

cart_pos_ctrl_hls_solver.type

◆ weights

cart_pos_ctrl_hls_solver.weights

Variables