NJointCCDMPControllerConfig Class Reference

defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>

class NJointCCDMPControllerConfig extends NJointControllerConfig { ... }

+ Inheritance diagram for NJointCCDMPControllerConfig:

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
 

Detailed Description

Definition at line 118 of file ControllerInterface.ice.

Data Member Documentation

◆ amplitudes

Ice::DoubleSeq amplitudes

Definition at line 140 of file ControllerInterface.ice.

◆ DMPKd

float DMPKd = 20

Definition at line 122 of file ControllerInterface.ice.

◆ dmpMode

int dmpMode = 1

Definition at line 125 of file ControllerInterface.ice.

◆ dmpNum

int dmpNum = 2

Definition at line 126 of file ControllerInterface.ice.

◆ dmpTypes

Ice::StringSeq dmpTypes

Definition at line 139 of file ControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 123 of file ControllerInterface.ice.

◆ mode

NJointTaskSpaceDMPControllerMode::CartesianSelection mode = NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll

Definition at line 148 of file ControllerInterface.ice.

◆ nodeSetName

string nodeSetName = ""

Definition at line 146 of file ControllerInterface.ice.

◆ phaseDist0

double phaseDist0 = 50

Definition at line 131 of file ControllerInterface.ice.

◆ phaseDist1

double phaseDist1 = 10

Definition at line 132 of file ControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 130 of file ControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 134 of file ControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 133 of file ControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 129 of file ControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 100

Definition at line 143 of file ControllerInterface.ice.

◆ tau

double tau = 1

Definition at line 124 of file ControllerInterface.ice.

◆ tcpName

string tcpName = ""

Definition at line 147 of file ControllerInterface.ice.

◆ timeDurations

Ice::DoubleSeq timeDurations

Definition at line 138 of file ControllerInterface.ice.


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