defined in <armarx/control/deprecated_njoint_mp_controller/adaptive/ControllerInterface.ice>
class NJointAdaptiveWipingControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointAdaptiveWipingControllerConfig:Data Members | |
| float | adaptCoeff |
| float | adaptForceCoeff |
| float | angularKp |
| float | changePositionTolerance |
| float | changeTimerThreshold |
| Ice::FloatSeq | desiredNullSpaceJointValues |
| double | dmpAmplitude = 1 |
| Ice::FloatSeq | Dnull |
| Ice::FloatSeq | Dori |
| Ice::FloatSeq | Dpos |
| float | dragForceDeadZone |
| float | forceDeadZone |
| float | forceFilter = 0.8 |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName = "FT R" |
| float | frictionCone |
| Ice::FloatSeq | ftOffset |
| Ice::FloatSeq | handCOM |
| float | handMass |
| int | kernelSize = 100 |
| Ice::FloatSeq | Knull |
| Ice::FloatSeq | Kori |
| float | Kpf |
| Ice::FloatSeq | Kpos |
| float | maxAngularVel |
| float | maxJointTorque |
| float | maxLinearVel |
| float | minimumReactForce = 0 |
| string | nodeSetName = "" |
| float | phaseDist0 = 50 |
| float | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| double | posToOriRatio = 100 |
| float | reactThreshold |
| double | timeDuration = 10 |
| float | velFilter |
| float | waitTimeForCalibration = 0.1 |
| Ice::FloatSeq | ws_x |
| Ice::FloatSeq | ws_y |
| Ice::FloatSeq | ws_z |
Detailed Description
Definition at line 89 of file ControllerInterface.ice.
Data Member Documentation
◆ adaptCoeff
| float adaptCoeff |
Definition at line 137 of file ControllerInterface.ice.
◆ adaptForceCoeff
| float adaptForceCoeff |
Definition at line 140 of file ControllerInterface.ice.
◆ angularKp
| float angularKp |
Definition at line 147 of file ControllerInterface.ice.
◆ changePositionTolerance
| float changePositionTolerance |
Definition at line 141 of file ControllerInterface.ice.
◆ changeTimerThreshold
| float changeTimerThreshold |
Definition at line 142 of file ControllerInterface.ice.
◆ desiredNullSpaceJointValues
| Ice::FloatSeq desiredNullSpaceJointValues |
Definition at line 115 of file ControllerInterface.ice.
◆ dmpAmplitude
| double dmpAmplitude = 1 |
Definition at line 94 of file ControllerInterface.ice.
◆ Dnull
| Ice::FloatSeq Dnull |
Definition at line 117 of file ControllerInterface.ice.
◆ Dori
| Ice::FloatSeq Dori |
Definition at line 113 of file ControllerInterface.ice.
◆ Dpos
| Ice::FloatSeq Dpos |
Definition at line 111 of file ControllerInterface.ice.
◆ dragForceDeadZone
| float dragForceDeadZone |
Definition at line 139 of file ControllerInterface.ice.
◆ forceDeadZone
| float forceDeadZone |
Definition at line 127 of file ControllerInterface.ice.
◆ forceFilter
| float forceFilter = 0.8 |
Definition at line 121 of file ControllerInterface.ice.
◆ forceFrameName
| string forceFrameName = "ArmR8_Wri2" |
Definition at line 120 of file ControllerInterface.ice.
◆ forceSensorName
| string forceSensorName = "FT R" |
Definition at line 119 of file ControllerInterface.ice.
◆ frictionCone
| float frictionCone |
Definition at line 148 of file ControllerInterface.ice.
◆ ftOffset
| Ice::FloatSeq ftOffset |
Definition at line 144 of file ControllerInterface.ice.
◆ handCOM
| Ice::FloatSeq handCOM |
Definition at line 145 of file ControllerInterface.ice.
◆ handMass
| float handMass |
Definition at line 146 of file ControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 93 of file ControllerInterface.ice.
◆ Knull
| Ice::FloatSeq Knull |
Definition at line 116 of file ControllerInterface.ice.
◆ Kori
| Ice::FloatSeq Kori |
Definition at line 112 of file ControllerInterface.ice.
◆ Kpf
| float Kpf |
Definition at line 123 of file ControllerInterface.ice.
◆ Kpos
| Ice::FloatSeq Kpos |
Definition at line 110 of file ControllerInterface.ice.
◆ maxAngularVel
| float maxAngularVel |
Definition at line 131 of file ControllerInterface.ice.
◆ maxJointTorque
| float maxJointTorque |
Definition at line 109 of file ControllerInterface.ice.
◆ maxLinearVel
| float maxLinearVel |
Definition at line 130 of file ControllerInterface.ice.
◆ minimumReactForce
| float minimumReactForce = 0 |
Definition at line 125 of file ControllerInterface.ice.
◆ nodeSetName
| string nodeSetName = "" |
Definition at line 107 of file ControllerInterface.ice.
◆ phaseDist0
| float phaseDist0 = 50 |
Definition at line 99 of file ControllerInterface.ice.
◆ phaseDist1
| float phaseDist1 = 10 |
Definition at line 100 of file ControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 98 of file ControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 102 of file ControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 101 of file ControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 97 of file ControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 103 of file ControllerInterface.ice.
◆ reactThreshold
| float reactThreshold |
Definition at line 138 of file ControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 95 of file ControllerInterface.ice.
◆ velFilter
| float velFilter |
Definition at line 128 of file ControllerInterface.ice.
◆ waitTimeForCalibration
| float waitTimeForCalibration = 0.1 |
Definition at line 122 of file ControllerInterface.ice.
◆ ws_x
| Ice::FloatSeq ws_x |
Definition at line 133 of file ControllerInterface.ice.
◆ ws_y
| Ice::FloatSeq ws_y |
Definition at line 134 of file ControllerInterface.ice.
◆ ws_z
| Ice::FloatSeq ws_z |
Definition at line 135 of file ControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/adaptive/ControllerInterface.ice
