34 const RobotUnitPtr& robotUnit,
35 const NJointControllerConfigPtr& config,
41 ConfigPtrT cfg = ConfigPtrT::dynamicCast(config);
42 auto configData = ::armarx::fromAron<AronDTO, BO>(cfg->config);
43 validateConfigData(configData);
44 bufferUserToAdditionalTask.reinitAllBuffers(configData);
45 bufferUserToRt.reinitAllBuffers(configData);
47 createMPs(configData.mpConfig);
59 return "NJointKVILImpedanceMPController";
164 nl_mani_buffer.
getWriteBuffer().pm_proj_point = curve_proj_point_;
165 nl_mani_buffer.
getWriteBuffer().pm_proj_point_to_mean_distance = proj_value_;