| 1 |
V_b_Ib_ref |
Output | 6 x 1 |
double |
No |
| 2 |
qdot_ref |
Output | 8 x 1 |
double |
No |
| 3 |
activeTasks |
Output | 1 x 3 |
double |
No |
| 4 |
T_I_f |
Input | 4 x 4 |
double |
No |
| 5 |
T_I_b |
Input | 4 x 4 |
double |
No |
| 6 |
T_I_r |
Input | 4 x 4 |
double |
No |
| 7 |
obstacleSurfacePoints |
Input | 3 x 3 |
double |
No |
| 8 |
Jf |
Input | 6 x 10 |
double |
No |
| 9 |
Jb |
Input | 6 x 10 |
double |
No |
| 10 |
Jr |
Input | 6 x 10 |
double |
No |
| 11 |
p_I_f |
Local | 3 x 1 |
double |
No |
| 12 |
p_I_b |
Local | 3 x 1 |
double |
No |
| 13 |
p_I_r |
Local | 3 x 1 |
double |
No |
| 14 |
R_I_f |
Local | 3 x 3 |
double |
No |
| 15 |
R_I_b |
Local | 3 x 3 |
double |
No |
| 16 |
R_I_r |
Local | 3 x 3 |
double |
No |
| 17 |
tasks |
Persistent | 1 x 3 |
cell |
- |
| 17.1 |
tasks{:} |
Element | 1 x 1 |
NormTask |
- |
|
17.1.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 17.1.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 17.1.2 |
Active |
Property | 1 x 1 |
double |
No |
| 17.1.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 17.1.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 17.1.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 17.1.6 |
J |
Property | 1 x 10 |
double |
No |
| 17.1.7 |
J_inv |
Property | 10 x 1 |
double |
No |
| 17.1.8 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 17.1.9 |
Sigma_actual |
Property | 1 x 1 |
double |
No |
| 17.1.10 |
Sigma_tilde |
Property | 1 x 1 |
double |
No |
| 17.1.11 |
Sigma_ref_dot |
Property | 1 x 1 |
double |
No |
| 17.1.12 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 18 |
CA_r |
Persistent | 1 x 1 |
NormTask |
- |
|
18.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 18.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 18.2 |
Active |
Property | 1 x 1 |
double |
No |
| 18.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 18.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 18.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 18.6 |
J |
Property | 1 x 4 |
double |
No |
| 18.7 |
J_inv |
Property | 4 x 1 |
double |
No |
| 18.8 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 18.9 |
Sigma_actual |
Property | 1 x 1 |
double |
No |
| 18.10 |
Sigma_tilde |
Property | 1 x 1 |
double |
No |
| 18.11 |
Sigma_ref_dot |
Property | 1 x 1 |
double |
No |
| 18.12 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 19 |
Position_r |
Persistent | 1 x 1 |
NormTask |
- |
|
19.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 19.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 19.2 |
Active |
Property | 1 x 1 |
double |
No |
| 19.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 19.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 19.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 19.6 |
J |
Property | 1 x 10 |
double |
No |
| 19.7 |
J_inv |
Property | 10 x 1 |
double |
No |
| 19.8 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 19.9 |
Sigma_actual |
Property | 1 x 1 |
double |
No |
| 19.10 |
Sigma_tilde |
Property | 1 x 1 |
double |
No |
| 19.11 |
Sigma_ref_dot |
Property | 1 x 1 |
double |
No |
| 19.12 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 20 |
k_CA |
Local | 1 x 1 |
double |
No |
| 21 |
k_pos |
Local | 1 x 1 |
double |
No |
| 22 |
distance_CA |
Local | 1 x 1 |
double |
No |
| 23 |
distance_pos |
Local | 1 x 1 |
double |
No |
| 24 |
W |
Local | 1 x 10 |
double |
No |
| 25 |
CA_f |
Local | 1 x 1 |
NormTask |
- |
|
25.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 25.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 25.2 |
Active |
Property | 1 x 1 |
double |
No |
| 25.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 25.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 25.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 25.6 |
J |
Property | 1 x 10 |
double |
No |
| 25.7 |
J_inv |
Property | 10 x 1 |
double |
No |
| 25.8 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 25.9 |
Sigma_actual |
Property | 1 x 1 |
double |
No |
| 25.10 |
Sigma_tilde |
Property | 1 x 1 |
double |
No |
| 25.11 |
Sigma_ref_dot |
Property | 1 x 1 |
double |
No |
| 25.12 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 26 |
CA_b |
Local | 1 x 1 |
NormTask |
- |
|
26.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 26.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 26.2 |
Active |
Property | 1 x 1 |
double |
No |
| 26.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 26.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 26.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 26.6 |
J |
Property | 1 x 10 |
double |
No |
| 26.7 |
J_inv |
Property | 10 x 1 |
double |
No |
| 26.8 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 26.9 |
Sigma_actual |
Property | 1 x 1 |
double |
No |
| 26.10 |
Sigma_tilde |
Property | 1 x 1 |
double |
No |
| 26.11 |
Sigma_ref_dot |
Property | 1 x 1 |
double |
No |
| 26.12 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 27 |
Position_f |
Local | 1 x 1 |
NormTask |
- |
|
27.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 27.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 27.2 |
Active |
Property | 1 x 1 |
double |
No |
| 27.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 27.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 27.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 27.6 |
J |
Property | 1 x 10 |
double |
No |
| 27.7 |
J_inv |
Property | 10 x 1 |
double |
No |
| 27.8 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 27.9 |
Sigma_actual |
Property | 1 x 1 |
double |
No |
| 27.10 |
Sigma_tilde |
Property | 1 x 1 |
double |
No |
| 27.11 |
Sigma_ref_dot |
Property | 1 x 1 |
double |
No |
| 27.12 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 28 |
Position_b |
Local | 1 x 1 |
NormTask |
- |
|
28.1 |
|
Inherited |
|
coder.internal.matlabCodegenHandle |
| 28.1.1 |
matlabCodegenIsDeleted |
Property | 1 x 1 |
logical |
- |
| 28.2 |
Active |
Property | 1 x 1 |
double |
No |
| 28.3 |
Gain |
Property | 1 x 1 |
double |
No |
| 28.4 |
Weights |
Property | 1 x 10 |
double |
No |
| 28.5 |
SetBased |
Property | 1 x 1 |
double |
No |
| 28.6 |
Sigma_des |
Property | 1 x 1 |
double |
No |
| 28.7 |
Sigma_des_dot |
Property | 1 x 1 |
double |
No |
| 29 |
dim |
Local | 1 x 1 |
double |
No |
| 30 |
p_attract |
Local | 3 x 1 |
double |
No |
| 31 |
Jf_pos |
Local | 3 x 10 |
double |
No |
| 32 |
Jb_pos |
Local | 3 x 10 |
double |
No |
| 33 |
Jr_pos |
Local | 3 x 10 |
double |
No |
| 34 |
Jr_pos_joints |
Local | 3 x 4 |
double |
No |
| 35 |
p_obst_f |
Local | 3 x 1 |
double |
No |
| 36 |
p_obst_b |
Local | 3 x 1 |
double |
No |
| 37 |
p_obst_r |
Local | 3 x 1 |
double |
No |
| 38 |
p_attract_f |
Local | 3 x 1 |
double |
No |
| 39 |
p_attract_b |
Local | 3 x 1 |
double |
No |
| 40 |
p_attract_r |
Local | 3 x 1 |
double |
No |
| 41 |
Q |
Local | 10 x 1 |
double |
No |
| 42 |
zeta_ref |
Local | 10 x 1 |
double |
No |
| 43 |
qr |
Local | :? x 1 |
double |
No |