List of all members | Data Members
NJointAnomalyDetectionAdaptiveWipingControllerConfig Class Reference

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

class NJointAnomalyDetectionAdaptiveWipingControllerConfig extends NJointControllerConfig { ... }

+ Inheritance diagram for NJointAnomalyDetectionAdaptiveWipingControllerConfig:

Data Members

float adaptCoeff
 
float adaptCoeffKdImpIncrease
 
float adaptForceCoeff
 
float adaptRateDecrease
 
float adaptRateDecreaseRot
 
float adaptRateIncrease
 
float changePositionTolerance
 
float changeTimerThreshold
 
float decreaseKpForceCoeff
 
float decreaseKpRotCoeff
 
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 fricEstiFilter
 
float frictionCone
 
int frictionHorizon = 100
 
float ftCommandFilter
 
Ice::FloatSeq ftOffset
 
Ice::FloatSeq handCOM
 
float handMass
 
float increaseKdNullCoeff
 
float increaseKdOriCoeff
 
float increaseKpForceCoeff
 
float increaseKpNullCoeff
 
float increaseKpOriCoeff
 
float increaseKpRotCoeff
 
bool isAdaptOriImpEnabled
 
bool isForceControlEnabled
 
bool isForceCtrlInForceDir
 
bool isLCRControlEnabled
 
bool isRotControlEnabled
 
bool isTorqueControlEnabled
 
int kernelSize = 100
 
Ice::FloatSeq Knull
 
Ice::FloatSeq Kori
 
Ice::FloatSeq Kpos
 
int loseContactCounterMax
 
bool loseContactDetectionEnabled
 
float loseContactForceIntThreshold
 
float maxAngularVel
 
float maxInteractionForce
 
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
 
Ice::FloatSeq pidForce
 
Ice::FloatSeq pidLCR
 
Ice::FloatSeq pidRot
 
Ice::FloatSeq pidTorque
 
double posToOriRatio = 100
 
float reactThreshold
 
float rotAngleSigmoid
 
double timeDuration = 10
 
bool useDMPInGlobalFrame
 
float velFilter
 
float velNormThreshold
 
int velocityHorizon = 100
 
float waitTimeForCalibration = 0.1
 
Ice::FloatSeq ws_x
 
Ice::FloatSeq ws_y
 
Ice::FloatSeq ws_z
 

Detailed Description

Definition at line 168 of file ControllerInterface.ice.

Data Member Documentation

◆ adaptCoeff

float adaptCoeff

Definition at line 229 of file ControllerInterface.ice.

◆ adaptCoeffKdImpIncrease

float adaptCoeffKdImpIncrease

Definition at line 254 of file ControllerInterface.ice.

◆ adaptForceCoeff

float adaptForceCoeff

Definition at line 232 of file ControllerInterface.ice.

◆ adaptRateDecrease

float adaptRateDecrease

Definition at line 252 of file ControllerInterface.ice.

◆ adaptRateDecreaseRot

float adaptRateDecreaseRot

Definition at line 253 of file ControllerInterface.ice.

◆ adaptRateIncrease

float adaptRateIncrease

Definition at line 251 of file ControllerInterface.ice.

◆ changePositionTolerance

float changePositionTolerance

Definition at line 233 of file ControllerInterface.ice.

◆ changeTimerThreshold

float changeTimerThreshold

Definition at line 234 of file ControllerInterface.ice.

◆ decreaseKpForceCoeff

float decreaseKpForceCoeff

Definition at line 248 of file ControllerInterface.ice.

◆ decreaseKpRotCoeff

float decreaseKpRotCoeff

Definition at line 249 of file ControllerInterface.ice.

◆ desiredNullSpaceJointValues

Ice::FloatSeq desiredNullSpaceJointValues

Definition at line 189 of file ControllerInterface.ice.

◆ dmpAmplitude

double dmpAmplitude = 1

Definition at line 173 of file ControllerInterface.ice.

◆ Dnull

Ice::FloatSeq Dnull

Definition at line 196 of file ControllerInterface.ice.

◆ Dori

Ice::FloatSeq Dori

Definition at line 194 of file ControllerInterface.ice.

◆ Dpos

Ice::FloatSeq Dpos

Definition at line 192 of file ControllerInterface.ice.

◆ dragForceDeadZone

float dragForceDeadZone

Definition at line 231 of file ControllerInterface.ice.

◆ forceDeadZone

float forceDeadZone

Definition at line 219 of file ControllerInterface.ice.

◆ forceFilter

float forceFilter = 0.8

Definition at line 200 of file ControllerInterface.ice.

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

Definition at line 199 of file ControllerInterface.ice.

◆ forceSensorName

string forceSensorName = "FT R"

Definition at line 198 of file ControllerInterface.ice.

◆ fricEstiFilter

float fricEstiFilter

Definition at line 242 of file ControllerInterface.ice.

◆ frictionCone

float frictionCone

Definition at line 241 of file ControllerInterface.ice.

◆ frictionHorizon

int frictionHorizon = 100

Definition at line 205 of file ControllerInterface.ice.

◆ ftCommandFilter

float ftCommandFilter

Definition at line 240 of file ControllerInterface.ice.

◆ ftOffset

Ice::FloatSeq ftOffset

Definition at line 236 of file ControllerInterface.ice.

◆ handCOM

Ice::FloatSeq handCOM

Definition at line 237 of file ControllerInterface.ice.

◆ handMass

float handMass

Definition at line 238 of file ControllerInterface.ice.

◆ increaseKdNullCoeff

float increaseKdNullCoeff

Definition at line 259 of file ControllerInterface.ice.

◆ increaseKdOriCoeff

float increaseKdOriCoeff

Definition at line 257 of file ControllerInterface.ice.

◆ increaseKpForceCoeff

float increaseKpForceCoeff

Definition at line 246 of file ControllerInterface.ice.

◆ increaseKpNullCoeff

float increaseKpNullCoeff

Definition at line 258 of file ControllerInterface.ice.

◆ increaseKpOriCoeff

float increaseKpOriCoeff

Definition at line 256 of file ControllerInterface.ice.

◆ increaseKpRotCoeff

float increaseKpRotCoeff

Definition at line 247 of file ControllerInterface.ice.

◆ isAdaptOriImpEnabled

bool isAdaptOriImpEnabled

Definition at line 261 of file ControllerInterface.ice.

◆ isForceControlEnabled

bool isForceControlEnabled

Definition at line 209 of file ControllerInterface.ice.

◆ isForceCtrlInForceDir

bool isForceCtrlInForceDir

Definition at line 208 of file ControllerInterface.ice.

◆ isLCRControlEnabled

bool isLCRControlEnabled

Definition at line 212 of file ControllerInterface.ice.

◆ isRotControlEnabled

bool isRotControlEnabled

Definition at line 210 of file ControllerInterface.ice.

◆ isTorqueControlEnabled

bool isTorqueControlEnabled

Definition at line 211 of file ControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 172 of file ControllerInterface.ice.

◆ Knull

Ice::FloatSeq Knull

Definition at line 195 of file ControllerInterface.ice.

◆ Kori

Ice::FloatSeq Kori

Definition at line 193 of file ControllerInterface.ice.

◆ Kpos

Ice::FloatSeq Kpos

Definition at line 191 of file ControllerInterface.ice.

◆ loseContactCounterMax

int loseContactCounterMax

Definition at line 264 of file ControllerInterface.ice.

◆ loseContactDetectionEnabled

bool loseContactDetectionEnabled

Definition at line 263 of file ControllerInterface.ice.

◆ loseContactForceIntThreshold

float loseContactForceIntThreshold

Definition at line 262 of file ControllerInterface.ice.

◆ maxAngularVel

float maxAngularVel

Definition at line 223 of file ControllerInterface.ice.

◆ maxInteractionForce

float maxInteractionForce

Definition at line 244 of file ControllerInterface.ice.

◆ maxJointTorque

float maxJointTorque

Definition at line 188 of file ControllerInterface.ice.

◆ maxLinearVel

float maxLinearVel

Definition at line 222 of file ControllerInterface.ice.

◆ minimumReactForce

float minimumReactForce = 0

Definition at line 218 of file ControllerInterface.ice.

◆ nodeSetName

string nodeSetName = ""

Definition at line 186 of file ControllerInterface.ice.

◆ phaseDist0

float phaseDist0 = 50

Definition at line 178 of file ControllerInterface.ice.

◆ phaseDist1

float phaseDist1 = 10

Definition at line 179 of file ControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 177 of file ControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 181 of file ControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 180 of file ControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 176 of file ControllerInterface.ice.

◆ pidForce

Ice::FloatSeq pidForce

Definition at line 213 of file ControllerInterface.ice.

◆ pidLCR

Ice::FloatSeq pidLCR

Definition at line 216 of file ControllerInterface.ice.

◆ pidRot

Ice::FloatSeq pidRot

Definition at line 214 of file ControllerInterface.ice.

◆ pidTorque

Ice::FloatSeq pidTorque

Definition at line 215 of file ControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 100

Definition at line 182 of file ControllerInterface.ice.

◆ reactThreshold

float reactThreshold

Definition at line 230 of file ControllerInterface.ice.

◆ rotAngleSigmoid

float rotAngleSigmoid

Definition at line 265 of file ControllerInterface.ice.

◆ timeDuration

double timeDuration = 10

Definition at line 174 of file ControllerInterface.ice.

◆ useDMPInGlobalFrame

bool useDMPInGlobalFrame

Definition at line 266 of file ControllerInterface.ice.

◆ velFilter

float velFilter

Definition at line 220 of file ControllerInterface.ice.

◆ velNormThreshold

float velNormThreshold

Definition at line 243 of file ControllerInterface.ice.

◆ velocityHorizon

int velocityHorizon = 100

Definition at line 204 of file ControllerInterface.ice.

◆ waitTimeForCalibration

float waitTimeForCalibration = 0.1

Definition at line 201 of file ControllerInterface.ice.

◆ ws_x

Ice::FloatSeq ws_x

Definition at line 225 of file ControllerInterface.ice.

◆ ws_y

Ice::FloatSeq ws_y

Definition at line 226 of file ControllerInterface.ice.

◆ ws_z

Ice::FloatSeq ws_z

Definition at line 227 of file ControllerInterface.ice.

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