defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice>
class NJointBimanualForceMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointBimanualForceMPControllerConfig:Data Members | |
| string | debugName |
| double | dmpAmplitude = 1 |
| string | dmpMode = "MinimumJerk" |
| string | dmpStyle = "Discrete" |
| float | filterCoeff |
| float | forceD |
| float | forceI |
| float | forceP |
| float | Kd_AngularVel |
| float | Kd_LinearVel |
| int | kernelSize = 100 |
| float | Kp_AngularVel |
| float | Kp_LinearVel |
| float | KpJointLimitAvoidanceScale |
| Ice::FloatSeq | leftForceOffset |
| 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 = 100 |
| Ice::FloatSeq | rightForceOffset |
| float | targetSupportForce |
| double | timeDuration = 10 |
Detailed Description
Definition at line 113 of file ForceMPControllerInterface.ice.
Data Member Documentation
◆ debugName
| string debugName |
Definition at line 152 of file ForceMPControllerInterface.ice.
◆ dmpAmplitude
| double dmpAmplitude = 1 |
Definition at line 120 of file ForceMPControllerInterface.ice.
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 118 of file ForceMPControllerInterface.ice.
◆ dmpStyle
| string dmpStyle = "Discrete" |
Definition at line 119 of file ForceMPControllerInterface.ice.
◆ filterCoeff
| float filterCoeff |
Definition at line 145 of file ForceMPControllerInterface.ice.
◆ forceD
| float forceD |
Definition at line 143 of file ForceMPControllerInterface.ice.
◆ forceI
| float forceI |
Definition at line 142 of file ForceMPControllerInterface.ice.
◆ forceP
| float forceP |
Definition at line 141 of file ForceMPControllerInterface.ice.
◆ Kd_AngularVel
| float Kd_AngularVel |
Definition at line 138 of file ForceMPControllerInterface.ice.
◆ Kd_LinearVel
| float Kd_LinearVel |
Definition at line 136 of file ForceMPControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 117 of file ForceMPControllerInterface.ice.
◆ Kp_AngularVel
| float Kp_AngularVel |
Definition at line 137 of file ForceMPControllerInterface.ice.
◆ Kp_LinearVel
| float Kp_LinearVel |
Definition at line 135 of file ForceMPControllerInterface.ice.
◆ KpJointLimitAvoidanceScale
| float KpJointLimitAvoidanceScale |
Definition at line 146 of file ForceMPControllerInterface.ice.
◆ leftForceOffset
| Ice::FloatSeq leftForceOffset |
Definition at line 149 of file ForceMPControllerInterface.ice.
◆ maxAngularVel
| double maxAngularVel |
Definition at line 132 of file ForceMPControllerInterface.ice.
◆ maxLinearVel
| double maxLinearVel |
Definition at line 131 of file ForceMPControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 124 of file ForceMPControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 125 of file ForceMPControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 123 of file ForceMPControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 127 of file ForceMPControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 126 of file ForceMPControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 122 of file ForceMPControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 129 of file ForceMPControllerInterface.ice.
◆ rightForceOffset
| Ice::FloatSeq rightForceOffset |
Definition at line 150 of file ForceMPControllerInterface.ice.
◆ targetSupportForce
| float targetSupportForce |
Definition at line 148 of file ForceMPControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 128 of file ForceMPControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice
