NJointBimanualObjLevelMultiMPControllerConfig Class Reference

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

class NJointBimanualObjLevelMultiMPControllerConfig extends NJointControllerConfig { ... }

+ Inheritance diagram for NJointBimanualObjLevelMultiMPControllerConfig:

Data Members

Ice::FloatSeq CoMVecLeft
 
Ice::FloatSeq CoMVecRight
 
float dmpAmplitude = 1.0
 
string dmpLeftType = "Discrete"
 
string dmpMode = "MinimumJerk"
 
string dmpObjType = "Discrete"
 
string dmpRightType = "Discrete"
 
float dnull
 
float filterCoeff
 
Ice::FloatSeq forceD
 
Ice::FloatSeq forceI
 
Ice::FloatSeq forceOffsetLeft
 
Ice::FloatSeq forceOffsetRight
 
Ice::FloatSeq forceP
 
Ice::FloatSeq forcePIDLimits
 
Ice::FloatSeq forceThreshold
 
double ftCalibrationTime
 
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
 
Ice::DoubleSeq objInitialPose
 
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 176 of file ObjLevelControllerInterface.ice.

Data Member Documentation

◆ CoMVecLeft

Ice::FloatSeq CoMVecLeft

Definition at line 220 of file ObjLevelControllerInterface.ice.

◆ CoMVecRight

Ice::FloatSeq CoMVecRight

Definition at line 225 of file ObjLevelControllerInterface.ice.

◆ dmpAmplitude

float dmpAmplitude = 1.0

Definition at line 185 of file ObjLevelControllerInterface.ice.

◆ dmpLeftType

string dmpLeftType = "Discrete"

Definition at line 182 of file ObjLevelControllerInterface.ice.

◆ dmpMode

string dmpMode = "MinimumJerk"

Definition at line 180 of file ObjLevelControllerInterface.ice.

◆ dmpObjType

string dmpObjType = "Discrete"

Definition at line 181 of file ObjLevelControllerInterface.ice.

◆ dmpRightType

string dmpRightType = "Discrete"

Definition at line 183 of file ObjLevelControllerInterface.ice.

◆ dnull

float dnull

Definition at line 230 of file ObjLevelControllerInterface.ice.

◆ filterCoeff

float filterCoeff

Definition at line 216 of file ObjLevelControllerInterface.ice.

◆ forceD

Ice::FloatSeq forceD

Definition at line 213 of file ObjLevelControllerInterface.ice.

◆ forceI

Ice::FloatSeq forceI

Definition at line 212 of file ObjLevelControllerInterface.ice.

◆ forceOffsetLeft

Ice::FloatSeq forceOffsetLeft

Definition at line 221 of file ObjLevelControllerInterface.ice.

◆ forceOffsetRight

Ice::FloatSeq forceOffsetRight

Definition at line 226 of file ObjLevelControllerInterface.ice.

◆ forceP

Ice::FloatSeq forceP

Definition at line 211 of file ObjLevelControllerInterface.ice.

◆ forcePIDLimits

Ice::FloatSeq forcePIDLimits

Definition at line 214 of file ObjLevelControllerInterface.ice.

◆ forceThreshold

Ice::FloatSeq forceThreshold

Definition at line 234 of file ObjLevelControllerInterface.ice.

◆ ftCalibrationTime

double ftCalibrationTime

Definition at line 236 of file ObjLevelControllerInterface.ice.

◆ KdAdmittance

Ice::FloatSeq KdAdmittance

Definition at line 205 of file ObjLevelControllerInterface.ice.

◆ KdImpedance

Ice::FloatSeq KdImpedance

Definition at line 203 of file ObjLevelControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 179 of file ObjLevelControllerInterface.ice.

◆ KmAdmittance

Ice::FloatSeq KmAdmittance

Definition at line 206 of file ObjLevelControllerInterface.ice.

◆ KmPID

Ice::FloatSeq KmPID

Definition at line 207 of file ObjLevelControllerInterface.ice.

◆ knull

float knull

Definition at line 229 of file ObjLevelControllerInterface.ice.

◆ KpAdmittance

Ice::FloatSeq KpAdmittance

Definition at line 204 of file ObjLevelControllerInterface.ice.

◆ KpImpedance

Ice::FloatSeq KpImpedance

Definition at line 202 of file ObjLevelControllerInterface.ice.

◆ leftDesiredJointValues

Ice::FloatSeq leftDesiredJointValues

Definition at line 198 of file ObjLevelControllerInterface.ice.

◆ massLeft

float massLeft

Definition at line 219 of file ObjLevelControllerInterface.ice.

◆ massRight

float massRight

Definition at line 224 of file ObjLevelControllerInterface.ice.

◆ objInitialPose

Ice::DoubleSeq objInitialPose

Definition at line 197 of file ObjLevelControllerInterface.ice.

◆ phaseDist0

double phaseDist0 = 50

Definition at line 190 of file ObjLevelControllerInterface.ice.

◆ phaseDist1

double phaseDist1 = 10

Definition at line 191 of file ObjLevelControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 189 of file ObjLevelControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 193 of file ObjLevelControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 192 of file ObjLevelControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 188 of file ObjLevelControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 10

Definition at line 194 of file ObjLevelControllerInterface.ice.

◆ rightDesiredJointValues

Ice::FloatSeq rightDesiredJointValues

Definition at line 199 of file ObjLevelControllerInterface.ice.

◆ targetWrench

Ice::FloatSeq targetWrench

Definition at line 210 of file ObjLevelControllerInterface.ice.

◆ timeDuration

double timeDuration = 10

Definition at line 195 of file ObjLevelControllerInterface.ice.

◆ torqueLimit

float torqueLimit

Definition at line 232 of file ObjLevelControllerInterface.ice.

◆ torqueOffsetLeft

Ice::FloatSeq torqueOffsetLeft

Definition at line 222 of file ObjLevelControllerInterface.ice.

◆ torqueOffsetRight

Ice::FloatSeq torqueOffsetRight

Definition at line 227 of file ObjLevelControllerInterface.ice.


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