defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>

class DeprecatedNJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for DeprecatedNJointPeriodicTSDMPCompliantControllerConfig:

Data Members
float	changePositionTolerance

float	changeTimerThreshold

double	dmpAmplitude = 1

Eigen::VectorXf	Dnull

bool	enableTCPGravityCompensation

float	forceDeadZone

float	forceFilter = 0.8

string	forceFrameName = "ArmR8_Wri2"

string	forceSensorName = "FT R"
	force torque sensor More...

bool	ignoreWSLimitChecks = false

float	jointTorqueLimit

Eigen::Vector6f	kdImpedance

int	kernelSize = 100

Eigen::VectorXf	Knull

Eigen::Vector6f	kpImpedance

string	nodeSetName = ""

float	phaseDist0 = 50

float	phaseDist1 = 10

double	phaseK = 10

double	phaseKpOri = 0.1

double	phaseKpPos = 1

double	phaseL = 10

Eigen::Vector4f	pidForce

double	posToOriRatio = 100

float	qvelFilter

Eigen::VectorXf	targetNullSpaceJointValues

Eigen::Vector3f	tcpCoMInForceSensorFrame

float	tcpMass = 0.0f

double	timeDuration = 10

Eigen::Matrix4f	toolFrameInRoot
	tool setup (Effective frame in root) More...

float	torqueDeadZone

float	waitTimeForCalibration = 0.1

Ice::FloatSeq	ws_x
	adaptive settings More...

Ice::FloatSeq	ws_y

Ice::FloatSeq	ws_z

Detailed Description

Definition at line 565 of file ControllerInterface.ice.

Data Member Documentation

◆ changePositionTolerance

float changePositionTolerance

Definition at line 602 of file ControllerInterface.ice.

◆ changeTimerThreshold

float changeTimerThreshold

Definition at line 603 of file ControllerInterface.ice.

◆ dmpAmplitude

double dmpAmplitude = 1

Definition at line 569 of file ControllerInterface.ice.

◆ Dnull

Eigen::VectorXf Dnull

Definition at line 587 of file ControllerInterface.ice.

◆ enableTCPGravityCompensation

bool enableTCPGravityCompensation

Definition at line 613 of file ControllerInterface.ice.

◆ forceDeadZone

float forceDeadZone

Definition at line 609 of file ControllerInterface.ice.

◆ forceFilter

float forceFilter = 0.8

Definition at line 608 of file ControllerInterface.ice.

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

Definition at line 607 of file ControllerInterface.ice.

◆ forceSensorName

string forceSensorName = "FT R"

force torque sensor

Definition at line 606 of file ControllerInterface.ice.

◆ ignoreWSLimitChecks

bool ignoreWSLimitChecks = false

Definition at line 601 of file ControllerInterface.ice.

◆ jointTorqueLimit

float jointTorqueLimit

Definition at line 590 of file ControllerInterface.ice.

◆ kdImpedance

Eigen::Vector6f kdImpedance

Definition at line 583 of file ControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 568 of file ControllerInterface.ice.

◆ Knull

Eigen::VectorXf Knull

Definition at line 586 of file ControllerInterface.ice.

◆ kpImpedance

Eigen::Vector6f kpImpedance

Definition at line 582 of file ControllerInterface.ice.

◆ nodeSetName

string nodeSetName = ""

Definition at line 571 of file ControllerInterface.ice.

◆ phaseDist0

float phaseDist0 = 50

Definition at line 575 of file ControllerInterface.ice.

◆ phaseDist1

float phaseDist1 = 10

Definition at line 576 of file ControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 574 of file ControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 578 of file ControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 577 of file ControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 573 of file ControllerInterface.ice.

◆ pidForce

Eigen::Vector4f pidForce

Definition at line 584 of file ControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 100

Definition at line 579 of file ControllerInterface.ice.

◆ qvelFilter

float qvelFilter

Definition at line 591 of file ControllerInterface.ice.

◆ targetNullSpaceJointValues

Eigen::VectorXf targetNullSpaceJointValues

Definition at line 588 of file ControllerInterface.ice.

◆ tcpCoMInForceSensorFrame

Eigen::Vector3f tcpCoMInForceSensorFrame

Definition at line 615 of file ControllerInterface.ice.

◆ tcpMass

float tcpMass = 0.0f

Definition at line 614 of file ControllerInterface.ice.

◆ timeDuration

double timeDuration = 10

Definition at line 570 of file ControllerInterface.ice.

◆ toolFrameInRoot

Eigen::Matrix4f toolFrameInRoot

tool setup (Effective frame in root)

Definition at line 618 of file ControllerInterface.ice.

◆ torqueDeadZone

float torqueDeadZone

Definition at line 610 of file ControllerInterface.ice.

◆ waitTimeForCalibration

float waitTimeForCalibration = 0.1

Definition at line 611 of file ControllerInterface.ice.

◆ ws_x

Ice::FloatSeq ws_x

adaptive settings

Definition at line 598 of file ControllerInterface.ice.

◆ ws_y

Ice::FloatSeq ws_y

Definition at line 599 of file ControllerInterface.ice.

◆ ws_z

Ice::FloatSeq ws_z

Definition at line 600 of file ControllerInterface.ice.

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

armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice

Data Members