NJointBimanualForceControllerConfig Class Reference

defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice>

class NJointBimanualForceControllerConfig extends NJointControllerConfig { ... }

+ Inheritance diagram for NJointBimanualForceControllerConfig:

Data Members

Ice::DoubleSeq boxInitialPose
 
float boxWidth
 
Ice::FloatSeq CoMVecLeft
 
Ice::FloatSeq CoMVecRight
 
string dmpMode = "MinimumJerk"
 
string dmpType = "Discrete"
 
float dnull
 
float filterCoeff
 
Ice::FloatSeq forceD
 
Ice::FloatSeq forceI
 
Ice::FloatSeq forceOffsetLeft
 
Ice::FloatSeq forceOffsetRight
 
Ice::FloatSeq forceP
 
Ice::FloatSeq forcePIDLimits
 
float forceThreshold
 
Ice::FloatSeq KdAdmittance
 
Ice::FloatSeq KdImpedance
 
int kernelSize = 100
 
Ice::FloatSeq KmAdmittance
 
Ice::FloatSeq KmPID
 
float knull
 
Ice::FloatSeq KpAdmittance
 
Ice::FloatSeq KpImpedance
 
Ice::FloatSeq leftDesiredJointValues
 
float massLeft
 
float massRight
 
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 targetWrench
 
double timeDuration = 10
 
float torqueLimit
 
Ice::FloatSeq torqueOffsetLeft
 
Ice::FloatSeq torqueOffsetRight
 

Detailed Description

Definition at line 30 of file ForceMPControllerInterface.ice.

Data Member Documentation

◆ boxInitialPose

Ice::DoubleSeq boxInitialPose

Definition at line 48 of file ForceMPControllerInterface.ice.

◆ boxWidth

float boxWidth

Definition at line 49 of file ForceMPControllerInterface.ice.

◆ CoMVecLeft

Ice::FloatSeq CoMVecLeft

Definition at line 74 of file ForceMPControllerInterface.ice.

◆ CoMVecRight

Ice::FloatSeq CoMVecRight

Definition at line 79 of file ForceMPControllerInterface.ice.

◆ dmpMode

string dmpMode = "MinimumJerk"

Definition at line 35 of file ForceMPControllerInterface.ice.

◆ dmpType

string dmpType = "Discrete"

Definition at line 36 of file ForceMPControllerInterface.ice.

◆ dnull

float dnull

Definition at line 91 of file ForceMPControllerInterface.ice.

◆ filterCoeff

float filterCoeff

Definition at line 70 of file ForceMPControllerInterface.ice.

◆ forceD

Ice::FloatSeq forceD

Definition at line 67 of file ForceMPControllerInterface.ice.

◆ forceI

Ice::FloatSeq forceI

Definition at line 66 of file ForceMPControllerInterface.ice.

◆ forceOffsetLeft

Ice::FloatSeq forceOffsetLeft

Definition at line 75 of file ForceMPControllerInterface.ice.

◆ forceOffsetRight

Ice::FloatSeq forceOffsetRight

Definition at line 80 of file ForceMPControllerInterface.ice.

◆ forceP

Ice::FloatSeq forceP

Definition at line 65 of file ForceMPControllerInterface.ice.

◆ forcePIDLimits

Ice::FloatSeq forcePIDLimits

Definition at line 68 of file ForceMPControllerInterface.ice.

◆ forceThreshold

float forceThreshold

Definition at line 95 of file ForceMPControllerInterface.ice.

◆ KdAdmittance

Ice::FloatSeq KdAdmittance

Definition at line 57 of file ForceMPControllerInterface.ice.

◆ KdImpedance

Ice::FloatSeq KdImpedance

Definition at line 55 of file ForceMPControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 34 of file ForceMPControllerInterface.ice.

◆ KmAdmittance

Ice::FloatSeq KmAdmittance

Definition at line 58 of file ForceMPControllerInterface.ice.

◆ KmPID

Ice::FloatSeq KmPID

Definition at line 59 of file ForceMPControllerInterface.ice.

◆ knull

float knull

Definition at line 90 of file ForceMPControllerInterface.ice.

◆ KpAdmittance

Ice::FloatSeq KpAdmittance

Definition at line 56 of file ForceMPControllerInterface.ice.

◆ KpImpedance

Ice::FloatSeq KpImpedance

Definition at line 54 of file ForceMPControllerInterface.ice.

◆ leftDesiredJointValues

Ice::FloatSeq leftDesiredJointValues

Definition at line 50 of file ForceMPControllerInterface.ice.

◆ massLeft

float massLeft

Definition at line 73 of file ForceMPControllerInterface.ice.

◆ massRight

float massRight

Definition at line 78 of file ForceMPControllerInterface.ice.

◆ phaseDist0

double phaseDist0 = 50

Definition at line 41 of file ForceMPControllerInterface.ice.

◆ phaseDist1

double phaseDist1 = 10

Definition at line 42 of file ForceMPControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 40 of file ForceMPControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 44 of file ForceMPControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 43 of file ForceMPControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 39 of file ForceMPControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 10

Definition at line 45 of file ForceMPControllerInterface.ice.

◆ rightDesiredJointValues

Ice::FloatSeq rightDesiredJointValues

Definition at line 51 of file ForceMPControllerInterface.ice.

◆ targetWrench

Ice::FloatSeq targetWrench

Definition at line 64 of file ForceMPControllerInterface.ice.

◆ timeDuration

double timeDuration = 10

Definition at line 46 of file ForceMPControllerInterface.ice.

◆ torqueLimit

float torqueLimit

Definition at line 93 of file ForceMPControllerInterface.ice.

◆ torqueOffsetLeft

Ice::FloatSeq torqueOffsetLeft

Definition at line 76 of file ForceMPControllerInterface.ice.

◆ torqueOffsetRight

Ice::FloatSeq torqueOffsetRight

Definition at line 81 of file ForceMPControllerInterface.ice.


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