defined in <armarx/control/deprecated_njoint_mp_controller/task_space/TaskSpaceImpedanceDMPControllerInterface.ice>
class NJointTaskSpaceImpedanceDMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointTaskSpaceImpedanceDMPControllerConfig:Data Members | |
| Ice::FloatSeq | defaultNullSpaceJointValues |
| string | dmpMode = "MinimumJerk" |
| string | dmpType = "Discrete" |
| Ice::FloatSeq | Dnull |
| Ice::FloatSeq | Dori |
| Ice::FloatSeq | Dpos |
| float | forceDeadZone |
| float | forceFilter |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName |
| Eigen::Vector3f | forceThreshold |
| int | kernelSize = 100 |
| Ice::FloatSeq | Knull |
| Ice::FloatSeq | Kori |
| Ice::FloatSeq | Kpos |
| string | nodeSetName |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseL = 10 |
| double | posToOriRatio = 100 |
| double | timeDuration |
| float | torqueLimit |
| bool | useNullSpaceJointDMP |
| float | waitTimeForCalibration |
Detailed Description
Definition at line 31 of file TaskSpaceImpedanceDMPControllerInterface.ice.
Data Member Documentation
◆ defaultNullSpaceJointValues
| Ice::FloatSeq defaultNullSpaceJointValues |
Definition at line 58 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 36 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ dmpType
| string dmpType = "Discrete" |
Definition at line 37 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ Dnull
| Ice::FloatSeq Dnull |
Definition at line 55 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ Dori
| Ice::FloatSeq Dori |
Definition at line 52 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ Dpos
| Ice::FloatSeq Dpos |
Definition at line 50 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ forceDeadZone
| float forceDeadZone |
Definition at line 66 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ forceFilter
| float forceFilter |
Definition at line 65 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ forceFrameName
| string forceFrameName = "ArmR8_Wri2" |
Definition at line 68 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ forceSensorName
| string forceSensorName |
Definition at line 63 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ forceThreshold
| Eigen::Vector3f forceThreshold |
Definition at line 67 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 35 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ Knull
| Ice::FloatSeq Knull |
Definition at line 54 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ Kori
| Ice::FloatSeq Kori |
Definition at line 51 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ Kpos
| Ice::FloatSeq Kpos |
Definition at line 49 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ nodeSetName
| string nodeSetName |
Definition at line 39 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 44 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 45 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 43 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 42 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 46 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ timeDuration
| double timeDuration |
Definition at line 38 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ torqueLimit
| float torqueLimit |
Definition at line 60 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ useNullSpaceJointDMP
| bool useNullSpaceJointDMP |
Definition at line 57 of file TaskSpaceImpedanceDMPControllerInterface.ice.
◆ waitTimeForCalibration
| float waitTimeForCalibration |
Definition at line 64 of file TaskSpaceImpedanceDMPControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/task_space/TaskSpaceImpedanceDMPControllerInterface.ice
