defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>
class DeprecatedNJointTaskSpaceDMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for DeprecatedNJointTaskSpaceDMPControllerConfig:Data Members | |
| string | debugName |
| double | dmpAmplitude = 1 |
| float | DMPKd = 20 |
| string | dmpMode = "MinimumJerk" |
| string | dmpStyle = "Discrete" |
| float | forceDeadZone |
| float | forceFilter |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName |
| Eigen::Vector3f | forceThreshold |
| string | frameName = "" |
| float | Kd_AngularVel |
| float | Kd_LinearVel |
| int | kernelSize = 100 |
| float | Kp_AngularVel |
| float | Kp_LinearVel |
| double | maxAngularVel |
| double | maxJointVelocity |
| double | maxLinearVel |
| NJointTaskSpaceDMPControllerMode::CartesianSelection | mode = NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll |
| string | nodeSetName = "" |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| float | pos_filter |
| double | posToOriRatio = 100 |
| double | tau = 1 |
| string | tcpName = "" |
| double | timeDuration = 10 |
| float | vel_filter |
| float | waitTimeForCalibration |
Detailed Description
Definition at line 302 of file ControllerInterface.ice.
Data Member Documentation
◆ debugName
| string debugName |
Definition at line 331 of file ControllerInterface.ice.
◆ dmpAmplitude
| double dmpAmplitude = 1 |
Definition at line 311 of file ControllerInterface.ice.
◆ DMPKd
| float DMPKd = 20 |
Definition at line 306 of file ControllerInterface.ice.
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 309 of file ControllerInterface.ice.
◆ dmpStyle
| string dmpStyle = "Discrete" |
Definition at line 310 of file ControllerInterface.ice.
◆ forceDeadZone
| float forceDeadZone |
Definition at line 344 of file ControllerInterface.ice.
◆ forceFilter
| float forceFilter |
Definition at line 343 of file ControllerInterface.ice.
◆ forceFrameName
| string forceFrameName = "ArmR8_Wri2" |
Definition at line 346 of file ControllerInterface.ice.
◆ forceSensorName
| string forceSensorName |
Definition at line 341 of file ControllerInterface.ice.
◆ forceThreshold
| Eigen::Vector3f forceThreshold |
Definition at line 345 of file ControllerInterface.ice.
◆ frameName
| string frameName = "" |
Definition at line 325 of file ControllerInterface.ice.
◆ Kd_AngularVel
| float Kd_AngularVel |
Definition at line 336 of file ControllerInterface.ice.
◆ Kd_LinearVel
| float Kd_LinearVel |
Definition at line 334 of file ControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 307 of file ControllerInterface.ice.
◆ Kp_AngularVel
| float Kp_AngularVel |
Definition at line 335 of file ControllerInterface.ice.
◆ Kp_LinearVel
| float Kp_LinearVel |
Definition at line 333 of file ControllerInterface.ice.
◆ maxAngularVel
| double maxAngularVel |
Definition at line 329 of file ControllerInterface.ice.
◆ maxJointVelocity
| double maxJointVelocity |
Definition at line 330 of file ControllerInterface.ice.
◆ maxLinearVel
| double maxLinearVel |
Definition at line 328 of file ControllerInterface.ice.
◆ mode
| NJointTaskSpaceDMPControllerMode::CartesianSelection mode = NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll |
Definition at line 326 of file ControllerInterface.ice.
◆ nodeSetName
| string nodeSetName = "" |
Definition at line 323 of file ControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 315 of file ControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 316 of file ControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 314 of file ControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 318 of file ControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 317 of file ControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 313 of file ControllerInterface.ice.
◆ pos_filter
| float pos_filter |
Definition at line 338 of file ControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 320 of file ControllerInterface.ice.
◆ tau
| double tau = 1 |
Definition at line 308 of file ControllerInterface.ice.
◆ tcpName
| string tcpName = "" |
Definition at line 324 of file ControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 319 of file ControllerInterface.ice.
◆ vel_filter
| float vel_filter |
Definition at line 339 of file ControllerInterface.ice.
◆ waitTimeForCalibration
| float waitTimeForCalibration |
Definition at line 342 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
