defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ControllerInterface.ice>
class NJointBimanualCCDMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointBimanualCCDMPControllerConfig:Data Members | |
| string | defautLeader = "Left" |
| string | dmpMode = "MinimumJerk" |
| string | dmpType = "Discrete" |
| float | dnull |
| int | kernelSize = 100 |
| float | knull |
| Ice::FloatSeq | leftDesiredJointValues |
| Ice::FloatSeq | leftDori |
| Ice::FloatSeq | leftDpos |
| Ice::FloatSeq | leftKori |
| Ice::FloatSeq | leftKpos |
| double | maxAngularVel |
| double | maxLinearVel |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| double | posToOriRatio = 10 |
| Ice::FloatSeq | rightDesiredJointValues |
| Ice::FloatSeq | rightDori |
| Ice::FloatSeq | rightDpos |
| Ice::FloatSeq | rightKori |
| Ice::FloatSeq | rightKpos |
| float | startReduceTorque |
| double | timeDuration = 10 |
| float | torqueLimit |
Detailed Description
Definition at line 30 of file ControllerInterface.ice.
Data Member Documentation
◆ defautLeader
| string defautLeader = "Left" |
Definition at line 48 of file ControllerInterface.ice.
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 35 of file ControllerInterface.ice.
◆ dmpType
| string dmpType = "Discrete" |
Definition at line 36 of file ControllerInterface.ice.
◆ dnull
| float dnull |
Definition at line 70 of file ControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 34 of file ControllerInterface.ice.
◆ knull
| float knull |
Definition at line 69 of file ControllerInterface.ice.
◆ leftDesiredJointValues
| Ice::FloatSeq leftDesiredJointValues |
Definition at line 50 of file ControllerInterface.ice.
◆ leftDori
| Ice::FloatSeq leftDori |
Definition at line 62 of file ControllerInterface.ice.
◆ leftDpos
| Ice::FloatSeq leftDpos |
Definition at line 60 of file ControllerInterface.ice.
◆ leftKori
| Ice::FloatSeq leftKori |
Definition at line 61 of file ControllerInterface.ice.
◆ leftKpos
| Ice::FloatSeq leftKpos |
Definition at line 59 of file ControllerInterface.ice.
◆ maxAngularVel
| double maxAngularVel |
Definition at line 57 of file ControllerInterface.ice.
◆ maxLinearVel
| double maxLinearVel |
Definition at line 56 of file ControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 41 of file ControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 42 of file ControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 40 of file ControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 44 of file ControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 43 of file ControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 39 of file ControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 10 |
Definition at line 45 of file ControllerInterface.ice.
◆ rightDesiredJointValues
| Ice::FloatSeq rightDesiredJointValues |
Definition at line 51 of file ControllerInterface.ice.
◆ rightDori
| Ice::FloatSeq rightDori |
Definition at line 67 of file ControllerInterface.ice.
◆ rightDpos
| Ice::FloatSeq rightDpos |
Definition at line 65 of file ControllerInterface.ice.
◆ rightKori
| Ice::FloatSeq rightKori |
Definition at line 66 of file ControllerInterface.ice.
◆ rightKpos
| Ice::FloatSeq rightKpos |
Definition at line 64 of file ControllerInterface.ice.
◆ startReduceTorque
| float startReduceTorque |
Definition at line 74 of file ControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 46 of file ControllerInterface.ice.
◆ torqueLimit
| float torqueLimit |
Definition at line 72 of file ControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/bimanual/ControllerInterface.ice
