List of all members | Public Member Functions | Public Attributes
BimanualGMMMotionGen Class Reference

#include <armarx/control/ds_controller/DSRTBimanualController.h>

Public Member Functions

 BimanualGMMMotionGen ()
 
 BimanualGMMMotionGen (const std::string &fileName)
 
void getGMMParamsFromJsonFile (const std::string &fileName)
 
void updateDesiredVelocity (const Eigen::Vector3f &leftarm_PositionInMeter, const Eigen::Vector3f &rightarm_PositionInMeter, float positionErrorToleranceInMeter, float desiredZ, float correction_x, float correction_y, float correction_z)
 

Public Attributes

Eigen::Vector3f left_DS_DesiredVelocity
 
Eigen::Vector3f left_right_position_errorInMeter
 
BimanualGMMPtr leftarm_gmm
 
BimanualGMRParameters leftarm_gmmParas
 
Eigen::Vector3f leftarm_Target
 
Eigen::Vector3f right_DS_DesiredVelocity
 
BimanualGMMPtr rightarm_gmm
 
BimanualGMRParameters rightarm_gmmParas
 
Eigen::Vector3f rightarm_Target
 
float scaling
 
float v_max
 

Detailed Description

Definition at line 72 of file DSRTBimanualController.h.

Constructor & Destructor Documentation

◆ BimanualGMMMotionGen() [1/2]

BimanualGMMMotionGen ( )
inline

Definition at line 75 of file DSRTBimanualController.h.

◆ BimanualGMMMotionGen() [2/2]

BimanualGMMMotionGen ( const std::string &  fileName)
inline

Definition at line 77 of file DSRTBimanualController.h.

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Member Function Documentation

◆ getGMMParamsFromJsonFile()

void getGMMParamsFromJsonFile ( const std::string &  fileName)
inline

Definition at line 100 of file DSRTBimanualController.h.

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◆ updateDesiredVelocity()

void updateDesiredVelocity ( const Eigen::Vector3f &  leftarm_PositionInMeter,
const Eigen::Vector3f &  rightarm_PositionInMeter,
float  positionErrorToleranceInMeter,
float  desiredZ,
float  correction_x,
float  correction_y,
float  correction_z 
)
inline

Definition at line 179 of file DSRTBimanualController.h.

Member Data Documentation

◆ left_DS_DesiredVelocity

Eigen::Vector3f left_DS_DesiredVelocity

Definition at line 91 of file DSRTBimanualController.h.

◆ left_right_position_errorInMeter

Eigen::Vector3f left_right_position_errorInMeter

Definition at line 93 of file DSRTBimanualController.h.

◆ leftarm_gmm

BimanualGMMPtr leftarm_gmm

Definition at line 82 of file DSRTBimanualController.h.

◆ leftarm_gmmParas

BimanualGMRParameters leftarm_gmmParas

Definition at line 85 of file DSRTBimanualController.h.

◆ leftarm_Target

Eigen::Vector3f leftarm_Target

Definition at line 88 of file DSRTBimanualController.h.

◆ right_DS_DesiredVelocity

Eigen::Vector3f right_DS_DesiredVelocity

Definition at line 92 of file DSRTBimanualController.h.

◆ rightarm_gmm

BimanualGMMPtr rightarm_gmm

Definition at line 83 of file DSRTBimanualController.h.

◆ rightarm_gmmParas

BimanualGMRParameters rightarm_gmmParas

Definition at line 86 of file DSRTBimanualController.h.

◆ rightarm_Target

Eigen::Vector3f rightarm_Target

Definition at line 89 of file DSRTBimanualController.h.

◆ scaling

float scaling

Definition at line 97 of file DSRTBimanualController.h.

◆ v_max

float v_max

Definition at line 98 of file DSRTBimanualController.h.

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