#include <armarx/control/deprecated_njoint_mp_controller/bimanual/NJointBimanualCartesianAdmittanceController.h>

Inheritance diagram for NJointBimanualCartesianAdmittanceController:

Public Member Functions
Eigen::Matrix4f	getBoxPose (const Ice::Current &=Ice::emptyCurrent) const override

std::string	getClassName (const Ice::Current &) const override

void	moveBoxPose (const Eigen::Matrix4f &pose, const Ice::Current &=Ice::emptyCurrent) override

void	moveBoxPosition (const Eigen::Vector3f &pos, const Ice::Current &=Ice::emptyCurrent) override

	NJointBimanualCartesianAdmittanceController (const RobotUnitPtr &, const NJointControllerConfigPtr &config, const VirtualRobot::RobotPtr &)

void	rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration) override
	TODO make protected and use attorneys. More...

void	setAdmittanceConfig (const detail::NJBmanCartAdmCtrl::Admittance &admittanceObject, const Ice::Current &=Ice::emptyCurrent) override

void	setBoxPose (const Eigen::Matrix4f &pose, const Ice::Current &=Ice::emptyCurrent) override

void	setBoxPoseAndVelocity (const Eigen::Matrix4f &pose, const Eigen::Vector3f &velXYZ, const Eigen::Vector3f &velRPY, const Ice::Current &=Ice::emptyCurrent) override

void	setBoxVelocity (const Eigen::Vector3f &velXYZ, const Eigen::Vector3f &velRPY, const Ice::Current &=Ice::emptyCurrent) override

void	setBoxWidth (float w, const Ice::Current &=Ice::emptyCurrent) override

void	setConfig (const NJointBimanualCartesianAdmittanceControllerConfigPtr &ptr, const Ice::Current &=Ice::emptyCurrent) override

void	setDesiredJointValuesLeft (const Ice::FloatSeq &vals, const Ice::Current &=Ice::emptyCurrent) override

void	setDesiredJointValuesRight (const Ice::FloatSeq &vals, const Ice::Current &=Ice::emptyCurrent) override

void	setForceConfig (const detail::NJBmanCartAdmCtrl::Force &left, const detail::NJBmanCartAdmCtrl::Force &right, const Ice::Current &=Ice::emptyCurrent) override

void	setImpedanceConfig (const detail::NJBmanCartAdmCtrl::Impedance &left, const detail::NJBmanCartAdmCtrl::Impedance &right, const Ice::Current &=Ice::emptyCurrent) override

void	setNullspaceConfig (const detail::NJBmanCartAdmCtrl::Nullspace &nullspace, const Ice::Current &=Ice::emptyCurrent) override

Public Member Functions inherited from SynchronousNJointController
virtual void	rtSwapBufferAndRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)

Public Member Functions inherited from NJointControllerBase
void	activateController (const Ice::Current &=Ice::emptyCurrent) final override

void	callDescribedFunction (const std::string &, const StringVariantBaseMap &, const Ice::Current &=Ice::emptyCurrent) override

void	deactivateAndDeleteController (const Ice::Current &=Ice::emptyCurrent) final override

void	deactivateController (const Ice::Current &=Ice::emptyCurrent) final override

void	deleteController (const Ice::Current &=Ice::emptyCurrent) final override

const std::map< std::string, const JointController * > &	getControlDevicesUsedJointController ()

const std::vector< char > &	getControlDeviceUsedBitmap () const

StringStringDictionary	getControlDeviceUsedControlModeMap (const Ice::Current &=Ice::emptyCurrent) const final override

const std::vector< std::size_t > &	getControlDeviceUsedIndices () const

NJointControllerDescription	getControllerDescription (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerDescriptionWithStatus	getControllerDescriptionWithStatus (const Ice::Current &=Ice::emptyCurrent) const final override

NJointControllerStatus	getControllerStatus (const Ice::Current &=Ice::emptyCurrent) const final override

WidgetDescription::StringWidgetDictionary	getFunctionDescriptions (const Ice::Current &=Ice::emptyCurrent) const override

std::string	getInstanceName (const Ice::Current &=Ice::emptyCurrent) const final override

bool	hasControllerError (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerActive (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isControllerRequested (const Ice::Current &=Ice::emptyCurrent) const final override

bool	isDeletable (const Ice::Current &=Ice::emptyCurrent) const final override

std::optional< std::vector< char > >	isNotInConflictWith (const NJointControllerBasePtr &other) const

std::optional< std::vector< char > >	isNotInConflictWith (const std::vector< char > &used) const

	NJointControllerBase ()

ConstControlDevicePtr	peekControlDevice (const std::string &deviceName) const
	Get a const ptr to the given ControlDevice. More...

ConstSensorDevicePtr	peekSensorDevice (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice. More...

const std::string &	rtGetClassName () const
	Returns the class name. More...

const std::vector< std::size_t > &	rtGetControlDeviceUsedIndices () const
	Returns the indices of all ControlDevice's this NJointControllerBase calculates a ControlTarget for. More...

bool	rtGetErrorState () const
	Sets the error state to true. More...

const std::string &	rtGetInstanceName () const
	Returns the instance name. More...

std::size_t	rtGetNumberOfUsedControlDevices () const
	Returns the number of used ControlDevices. More...

const VirtualRobot::RobotPtr &	rtGetRobot ()
	TODO make protected and use attorneys. More...

const std::vector< VirtualRobot::RobotNodePtr > &	rtGetRobotNodes ()
	Returns the nodes of the virtual robot used by this NJointControllerBase in the rtRun. More...

bool	rtUsesControlDevice (std::size_t deviceIndex) const
	Returns whether this NJointControllerBase calculates a ControlTarget for the given ControlDevice. More...

ControlTargetBase *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
T *	useControlTarget (const std::string &deviceName, const std::string &controlMode)
	Declares to calculate the ControlTarget for the given ControlDevice in the given ControlMode when rtRun is called. More...

template<class T >
const T *	useSensorValue (const std::string &deviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const SensorValueBase *	useSensorValue (const std::string &sensorDeviceName) const
	Get a const ptr to the given SensorDevice's SensorValue. More...

const VirtualRobot::RobotPtr &	useSynchronizedRtRobot (bool updateCollisionModel=false)
	Requests a VirtualRobot for use in rtRun *. More...

	~NJointControllerBase () override

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from NJointBimanualCartesianAdmittanceControllerInterface
Eigen::Matrix4f	getBoxPose ()

void	moveBoxPose (Eigen::Matrix4f pose)

void	moveBoxPosition (Eigen::Vector3f pos)

void	setAdmittanceConfig (detail::NJBmanCartAdmCtrl::Admittance admittanceObject)

void	setBoxPose (Eigen::Matrix4f pose)

void	setBoxPoseAndVelocity (Eigen::Matrix4f pose, Eigen::Vector3f velXYZ, Eigen::Vector3f velRPY)

void	setBoxVelocity (Eigen::Vector3f velXYZ, Eigen::Vector3f velRPY)

void	setBoxWidth (float w)

void	setConfig (NJointBimanualCartesianAdmittanceControllerConfig cfg)

void	setDesiredJointValuesLeft (Ice::FloatSeq cfg)

void	setDesiredJointValuesRight (Ice::FloatSeq cfg)

void	setForceConfig (detail::NJBmanCartAdmCtrl::Force left, detail::NJBmanCartAdmCtrl::Force right)

void	setImpedanceConfig (detail::NJBmanCartAdmCtrl::Impedance left, detail::NJBmanCartAdmCtrl::Impedance right)

void	setNullspaceConfig (detail::NJBmanCartAdmCtrl::Nullspace nullspace)

Protected Member Functions
virtual void	onPublish (const SensorAndControl &, const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

void	rtPreActivateController ()
	This function is called before the controller is activated. More...

void	updateAdmittanceConfig (const detail::NJBmanCartAdmCtrl::Admittance admittanceObject)

void	updateConfig (const NJointBimanualCartesianAdmittanceControllerConfig &cfg)

void	updateDesiredJointValuesLeft (const Ice::FloatSeq &cfg)

void	updateDesiredJointValuesRight (const Ice::FloatSeq &cfg)

void	updateForceConfig (const detail::NJBmanCartAdmCtrl::Force &left, const detail::NJBmanCartAdmCtrl::Force &right)

void	updateImpedanceConfig (const detail::NJBmanCartAdmCtrl::Impedance &left, const detail::NJBmanCartAdmCtrl::Impedance &right)

void	updateNullspaceConfig (const detail::NJBmanCartAdmCtrl::Nullspace &nullspace)

Protected Member Functions inherited from NJointControllerBase
std::string	getDefaultName () const override

ThreadPoolPtr	getThreadPool () const

void	onConnectComponent () final

virtual void	onConnectNJointController ()

void	onDisconnectComponent () final

virtual void	onDisconnectNJointController ()

void	onExitComponent () final

virtual void	onExitNJointController ()

void	onInitComponent () final

virtual void	onInitNJointController ()

virtual void	onPublishActivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	onPublishDeactivation (const DebugDrawerInterfacePrx &, const DebugObserverInterfacePrx &)

virtual void	rtPostDeactivateController ()
	This function is called after the controller is deactivated. More...

void	rtSetErrorState ()
	Sets the error state to true. More...

template<typename Task >
void	runTask (const std::string &taskName, Task &&task)
	Executes a given task in a separate thread from the Application ThreadPool. More...

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnConnectComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

virtual void	preOnInitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Additional Inherited Members
Public Types inherited from NJointControllerBase
using	ConfigPtrT = NJointControllerConfigPtr

using	GenerateConfigDescriptionFunctionSignature = WidgetDescription::WidgetPtr(*)(const VirtualRobot::RobotPtr &, const std::map< std::string, ConstControlDevicePtr > &controlDevices, const std::map< std::string, ConstSensorDevicePtr > &sensorDevices)

template<class ConfigPrtType >
using	GenerateConfigFromVariantsFunctionSignature = ConfigPrtType(*)(const StringVariantBaseMap &)

Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from NJointControllerBase
template<class ItT >
static std::optional< std::vector< char > >	AreNotInConflict (ItT first, ItT last)

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from NJointControllerBase
static const NJointControllerBasePtr	NullPtr {nullptr}

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Protected Attributes inherited from NJointControllerBase
std::map< std::string, std::shared_ptr< ThreadPool::Handle > >	threadHandles

std::mutex	threadHandlesMutex

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Definition at line 30 of file NJointBimanualCartesianAdmittanceController.h.

Constructor & Destructor Documentation

◆ NJointBimanualCartesianAdmittanceController()

NJointBimanualCartesianAdmittanceController	(	const RobotUnitPtr &	,
		const NJointControllerConfigPtr &	config,
		const VirtualRobot::RobotPtr &
	)

Definition at line 13 of file NJointBimanualCartesianAdmittanceController.cpp.

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Member Function Documentation

◆ getBoxPose()

Eigen::Matrix4f getBoxPose ( const Ice::Current & = Ice::emptyCurrent ) const

override

Definition at line 679 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ getClassName()

std::string getClassName ( const Ice::Current & ) const

overridevirtual

Implements NJointControllerBase.

Definition at line 167 of file NJointBimanualCartesianAdmittanceController.cpp.

◆ moveBoxPose()

void moveBoxPose	(	const Eigen::Matrix4f &	pose,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 727 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ moveBoxPosition()

void moveBoxPosition	(	const Eigen::Vector3f &	pos,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 735 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ onPublish()

void onPublish	(	const SensorAndControl &	,
		const DebugDrawerInterfacePrx &	,
		const DebugObserverInterfacePrx &	debugObs
	)

protectedvirtual

Reimplemented from NJointControllerBase.

Definition at line 587 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ rtPreActivateController()

void rtPreActivateController ( )

protectedvirtual

This function is called before the controller is activated.

You can use it to activate a thread again (DO NOT SPAWN NEW THREADS!) e.g. via a std::atomic_bool.

Reimplemented from NJointControllerBase.

Definition at line 132 of file NJointBimanualCartesianAdmittanceController.cpp.

◆ rtRun()

void rtRun	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration
	)

overridevirtual

TODO make protected and use attorneys.

Implements SynchronousNJointController.

Definition at line 201 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setAdmittanceConfig()

void setAdmittanceConfig	(	const detail::NJBmanCartAdmCtrl::Admittance &	admittanceObject,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 770 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setBoxPose()

void setBoxPose	(	const Eigen::Matrix4f &	pose,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 685 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setBoxPoseAndVelocity()

void setBoxPoseAndVelocity	(	const Eigen::Matrix4f &	pose,
		const Eigen::Vector3f &	velXYZ,
		const Eigen::Vector3f &	velRPY,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 713 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setBoxVelocity()

void setBoxVelocity	(	const Eigen::Vector3f &	velXYZ,
		const Eigen::Vector3f &	velRPY,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 700 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setBoxWidth()

void setBoxWidth	(	float	w,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 693 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setConfig()

void setConfig	(	const NJointBimanualCartesianAdmittanceControllerConfigPtr &	ptr,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 743 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setDesiredJointValuesLeft()

void setDesiredJointValuesLeft	(	const Ice::FloatSeq &	vals,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 752 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setDesiredJointValuesRight()

void setDesiredJointValuesRight	(	const Ice::FloatSeq &	vals,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 758 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setForceConfig()

void setForceConfig	(	const detail::NJBmanCartAdmCtrl::Force &	left,
		const detail::NJBmanCartAdmCtrl::Force &	right,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 776 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setImpedanceConfig()

void setImpedanceConfig	(	const detail::NJBmanCartAdmCtrl::Impedance &	left,
		const detail::NJBmanCartAdmCtrl::Impedance &	right,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 782 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ setNullspaceConfig()

void setNullspaceConfig	(	const detail::NJBmanCartAdmCtrl::Nullspace &	nullspace,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 764 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateAdmittanceConfig()

void updateAdmittanceConfig ( const detail::NJBmanCartAdmCtrl::Admittance admittanceObject )

protected

Definition at line 827 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateConfig()

void updateConfig ( const NJointBimanualCartesianAdmittanceControllerConfig & cfg )

protected

Definition at line 789 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateDesiredJointValuesLeft()

void updateDesiredJointValuesLeft ( const Ice::FloatSeq & cfg )

protected

Definition at line 802 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateDesiredJointValuesRight()

void updateDesiredJointValuesRight ( const Ice::FloatSeq & cfg )

protected

Definition at line 810 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateForceConfig()

void updateForceConfig	(	const detail::NJBmanCartAdmCtrl::Force &	left,
		const detail::NJBmanCartAdmCtrl::Force &	right
	)

protected

Definition at line 840 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateImpedanceConfig()

void updateImpedanceConfig	(	const detail::NJBmanCartAdmCtrl::Impedance &	left,
		const detail::NJBmanCartAdmCtrl::Impedance &	right
	)

protected

Definition at line 861 of file NJointBimanualCartesianAdmittanceController.cpp.

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◆ updateNullspaceConfig()

void updateNullspaceConfig ( const detail::NJBmanCartAdmCtrl::Nullspace & nullspace )

protected

Definition at line 818 of file NJointBimanualCartesianAdmittanceController.cpp.

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

armarx/control/deprecated_njoint_mp_controller/bimanual/NJointBimanualCartesianAdmittanceController.h
armarx/control/deprecated_njoint_mp_controller/bimanual/NJointBimanualCartesianAdmittanceController.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NJointBimanualCartesianAdmittanceController()

Member Function Documentation

◆ getBoxPose()

◆ getClassName()

◆ moveBoxPose()

◆ moveBoxPosition()

◆ onPublish()

◆ rtPreActivateController()

◆ rtRun()

◆ setAdmittanceConfig()

◆ setBoxPose()

◆ setBoxPoseAndVelocity()

◆ setBoxVelocity()

◆ setBoxWidth()

◆ setConfig()

◆ setDesiredJointValuesLeft()

◆ setDesiredJointValuesRight()

◆ setForceConfig()

◆ setImpedanceConfig()

◆ setNullspaceConfig()

◆ updateAdmittanceConfig()

◆ updateConfig()

◆ updateDesiredJointValuesLeft()

◆ updateDesiredJointValuesRight()

◆ updateForceConfig()

◆ updateImpedanceConfig()

◆ updateNullspaceConfig()