ControlAspect.h File Reference

#include <iostream>
#include <boost/shared_ptr.hpp>
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Classes

class  rci::ControlAspect
 Domain object indicating one aspect of control (e.g. More...

Namespaces

namespace  rci

Typedefs

typedef boost::shared_ptr
< ControlAspect > 
rci::ControlAspectPtr

Variables

static ControlAspectPtr rci::noControl
 Less operator.
static ControlAspectPtr rci::poseControl
 Control aspect representing Pose Control (cartesian task space control).
static const ControlAspectPtr rci::forceControl
 Definition of default ControlAspect representing Pose Control (cartesian control).
static const ControlAspectPtr rci::jointPositionControl
 Definition of default ControlAspect representing Joint Position Control (joint angles).
static const ControlAspectPtr rci::jointComplianceControl
 Definition of default ControlAspect representing Joint Compliance Control (joint stiffness and damping for the joints).
static const ControlAspectPtr rci::cartesianComplianceControl
 Definition of default ControlAspect representing Cartesian Compliance Control (stiffness and damping in task space).
static const ControlAspectPtr rci::jointVelocityControl
 Definition of default ControlAspect representing Joint Velocity Control.
static const ControlAspectPtr rci::jointTorqueControl
 Definition of default ControlAspect representing Joint Torque Control.
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