|
defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>
class NJointCCDMPControllerConfig extends NJointControllerConfig { ... }
Data Members | |
Ice::DoubleSeq | amplitudes |
float | DMPKd = 20 |
int | dmpMode = 1 |
int | dmpNum = 2 |
Ice::StringSeq | dmpTypes |
int | kernelSize = 100 |
NJointTaskSpaceDMPControllerMode::CartesianSelection | mode = NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll |
string | nodeSetName = "" |
double | phaseDist0 = 50 |
double | phaseDist1 = 10 |
double | phaseK = 10 |
double | phaseKpOri = 0.1 |
double | phaseKpPos = 1 |
double | phaseL = 10 |
double | posToOriRatio = 100 |
double | tau = 1 |
string | tcpName = "" |
Ice::DoubleSeq | timeDurations |
Definition at line 118 of file ControllerInterface.ice.
Ice::DoubleSeq amplitudes |
Definition at line 140 of file ControllerInterface.ice.
float DMPKd = 20 |
Definition at line 122 of file ControllerInterface.ice.
int dmpMode = 1 |
Definition at line 125 of file ControllerInterface.ice.
int dmpNum = 2 |
Definition at line 126 of file ControllerInterface.ice.
Ice::StringSeq dmpTypes |
Definition at line 139 of file ControllerInterface.ice.
int kernelSize = 100 |
Definition at line 123 of file ControllerInterface.ice.
NJointTaskSpaceDMPControllerMode::CartesianSelection mode = NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll |
Definition at line 148 of file ControllerInterface.ice.
string nodeSetName = "" |
Definition at line 146 of file ControllerInterface.ice.
double phaseDist0 = 50 |
Definition at line 131 of file ControllerInterface.ice.
double phaseDist1 = 10 |
Definition at line 132 of file ControllerInterface.ice.
double phaseK = 10 |
Definition at line 130 of file ControllerInterface.ice.
double phaseKpOri = 0.1 |
Definition at line 134 of file ControllerInterface.ice.
double phaseKpPos = 1 |
Definition at line 133 of file ControllerInterface.ice.
double phaseL = 10 |
Definition at line 129 of file ControllerInterface.ice.
double posToOriRatio = 100 |
Definition at line 143 of file ControllerInterface.ice.
double tau = 1 |
Definition at line 124 of file ControllerInterface.ice.
string tcpName = "" |
Definition at line 147 of file ControllerInterface.ice.
Ice::DoubleSeq timeDurations |
Definition at line 138 of file ControllerInterface.ice.