mcl_hybrid_ctrl_state_t Struct Reference

Hybrid control state/output structure. More...

#include <hpm_mcl_hybrid_ctrl.h>

Data Fields
float	q_actual
float	dq_actual
float	tau_output
float	pos_error
float	vel_error
float	speed_lpf

Detailed Description

Hybrid control state/output structure.

Field Documentation

dq_actual

float mcl_hybrid_ctrl_state_t::dq_actual

Current joint velocity (rad/s)

pos_error

float mcl_hybrid_ctrl_state_t::pos_error

Position tracking error (rad)

q_actual

float mcl_hybrid_ctrl_state_t::q_actual

Current joint position (rad)

speed_lpf

float mcl_hybrid_ctrl_state_t::speed_lpf

Internal low-pass filtered speed (rad/s)

tau_output

float mcl_hybrid_ctrl_state_t::tau_output

Output torque command (N*m)

vel_error

float mcl_hybrid_ctrl_state_t::vel_error

Velocity tracking error (rad/s)

---

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

• /home/docs/checkouts/readthedocs.org/user_builds/hpm-sdk/checkouts/latest/middleware/hpm_mcl_v2/core/control/hpm_mcl_hybrid_ctrl.h