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NJointPeriodicTSDMPCompliantControllerConfig Class Reference

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

class NJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig { ... }

+ Inheritance diagram for NJointPeriodicTSDMPCompliantControllerConfig:

Data Members

float adaptCoeff
 
float adaptForceCoeff
 
float changePositionTolerance
 
float changeTimerThreshold
 
Ice::FloatSeq desiredNullSpaceJointValues
 
double dmpAmplitude = 1
 
float Dnull
 
Ice::FloatSeq Dori
 
Ice::FloatSeq Dpos
 
float dragForceDeadZone
 
float forceDeadZone
 
float forceFilter = 0.8
 
string forceFrameName = "ArmR8_Wri2"
 
string forceSensorName = "FT R"
 
bool ignoreWSLimitChecks = false
 
bool isManipulability = false
 
int kernelSize = 100
 
Ice::DoubleSeq kmani
 
float Knull
 
Ice::FloatSeq Kori
 
float Kpf
 
Ice::FloatSeq Kpos
 
Ice::DoubleSeq maniWeight
 
float maxAngularVel
 
float maxJointTorque
 
float maxLinearVel
 
float minimumReactForce = 0
 
string nodeSetName = ""
 
float phaseDist0 = 50
 
float phaseDist1 = 10
 
double phaseK = 10
 
double phaseKpOri = 0.1
 
double phaseKpPos = 1
 
double phaseL = 10
 
Ice::DoubleSeq positionManipulability
 
double posToOriRatio = 100
 
float reactThreshold
 
double timeDuration = 10
 
float velFilter
 
float waitTimeForCalibration = 0.1
 
Ice::FloatSeq ws_x
 
Ice::FloatSeq ws_y
 
Ice::FloatSeq ws_z
 

Detailed Description

Definition at line 221 of file ControllerInterface.ice.

Data Member Documentation

◆ adaptCoeff

float adaptCoeff

Definition at line 271 of file ControllerInterface.ice.

◆ adaptForceCoeff

float adaptForceCoeff

Definition at line 274 of file ControllerInterface.ice.

◆ changePositionTolerance

float changePositionTolerance

Definition at line 275 of file ControllerInterface.ice.

◆ changeTimerThreshold

float changeTimerThreshold

Definition at line 276 of file ControllerInterface.ice.

◆ desiredNullSpaceJointValues

Ice::FloatSeq desiredNullSpaceJointValues

Definition at line 247 of file ControllerInterface.ice.

◆ dmpAmplitude

double dmpAmplitude = 1

Definition at line 226 of file ControllerInterface.ice.

◆ Dnull

float Dnull

Definition at line 249 of file ControllerInterface.ice.

◆ Dori

Ice::FloatSeq Dori

Definition at line 245 of file ControllerInterface.ice.

◆ Dpos

Ice::FloatSeq Dpos

Definition at line 243 of file ControllerInterface.ice.

◆ dragForceDeadZone

float dragForceDeadZone

Definition at line 273 of file ControllerInterface.ice.

◆ forceDeadZone

float forceDeadZone

Definition at line 259 of file ControllerInterface.ice.

◆ forceFilter

float forceFilter = 0.8

Definition at line 253 of file ControllerInterface.ice.

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

Definition at line 252 of file ControllerInterface.ice.

◆ forceSensorName

string forceSensorName = "FT R"

Definition at line 251 of file ControllerInterface.ice.

◆ ignoreWSLimitChecks

bool ignoreWSLimitChecks = false

Definition at line 269 of file ControllerInterface.ice.

◆ isManipulability

bool isManipulability = false

Definition at line 278 of file ControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 225 of file ControllerInterface.ice.

◆ kmani

Ice::DoubleSeq kmani

Definition at line 279 of file ControllerInterface.ice.

◆ Knull

float Knull

Definition at line 248 of file ControllerInterface.ice.

◆ Kori

Ice::FloatSeq Kori

Definition at line 244 of file ControllerInterface.ice.

◆ Kpf

float Kpf

Definition at line 255 of file ControllerInterface.ice.

◆ Kpos

Ice::FloatSeq Kpos

Definition at line 242 of file ControllerInterface.ice.

◆ maniWeight

Ice::DoubleSeq maniWeight

Definition at line 281 of file ControllerInterface.ice.

◆ maxAngularVel

float maxAngularVel

Definition at line 263 of file ControllerInterface.ice.

◆ maxJointTorque

float maxJointTorque

Definition at line 241 of file ControllerInterface.ice.

◆ maxLinearVel

float maxLinearVel

Definition at line 262 of file ControllerInterface.ice.

◆ minimumReactForce

float minimumReactForce = 0

Definition at line 257 of file ControllerInterface.ice.

◆ nodeSetName

string nodeSetName = ""

Definition at line 239 of file ControllerInterface.ice.

◆ phaseDist0

float phaseDist0 = 50

Definition at line 231 of file ControllerInterface.ice.

◆ phaseDist1

float phaseDist1 = 10

Definition at line 232 of file ControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 230 of file ControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 234 of file ControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 233 of file ControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 229 of file ControllerInterface.ice.

◆ positionManipulability

Ice::DoubleSeq positionManipulability

Definition at line 280 of file ControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 100

Definition at line 235 of file ControllerInterface.ice.

◆ reactThreshold

float reactThreshold

Definition at line 272 of file ControllerInterface.ice.

◆ timeDuration

double timeDuration = 10

Definition at line 227 of file ControllerInterface.ice.

◆ velFilter

float velFilter

Definition at line 260 of file ControllerInterface.ice.

◆ waitTimeForCalibration

float waitTimeForCalibration = 0.1

Definition at line 254 of file ControllerInterface.ice.

◆ ws_x

Ice::FloatSeq ws_x

Definition at line 265 of file ControllerInterface.ice.

◆ ws_y

Ice::FloatSeq ws_y

Definition at line 266 of file ControllerInterface.ice.

◆ ws_z

Ice::FloatSeq ws_z

Definition at line 267 of file ControllerInterface.ice.

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