28 #include <armarx/control/njoint_mp_controller/task_space/ControllerInterface.h>
29 #include <armarx/control/njoint_mp_controller/task_space/aron/NJointMPControllerConfig.aron.generated.h>
51 float density_std_dev = 0.0f;
52 float spatial_scale = 0.0;
56 float pm_init_proj_value = 0.0;
88 using AronDTO = arondto::KVILImpedanceMPConfig;
93 std::string getClassName(
const Ice::Current&)
const override;
95 const Ice::Current& iceCurrent = Ice::emptyCurrent)
override;
96 void rtPreActivateController()
override;
97 void additionalTask()
override;
101 void setCurveProjection(
const Eigen::Vector3f& curve_proj_point_,
float proj_value_,
const Eigen::Vector3f& curve_vec_,
const Ice::Current &)
override;
102 Eigen::Vector3f getCurveKeypointPosition(
const Ice::Current &)
override;
105 std::map<std::string, ConstraintPtr> constraints;
106 int n_constraints = 0;
108 struct NonlinearManifoldInfoStruct
110 Eigen::Vector3f pm_proj_point;
111 float pm_proj_point_to_mean_distance = 100.0f;
112 Eigen::Vector3f pm_tangent_vec;
117 Eigen::Vector3f curve_kpt_position;