List of all members | Public Member Functions | Static Public Member Functions | Public Attributes
VelocityManipulatingTorqueControllerConfiguration Class Reference

#include <armarx/control/joint_controller/VelocityManipulatingTorque.h>

Public Member Functions

 VelocityManipulatingTorqueControllerConfiguration ()
 

Static Public Member Functions

static VelocityManipulatingTorqueControllerConfigurationPtr CreateTorqueConfigData (hardware_config::Config &config, bool limitless, float jointLimitLow, float jointLimitHigh)
 

Public Attributes

double accelerationGain = 0.1
 
double deadZone = 0.1
 
double decay = 0.99
 
std::vector< float > firFilterImpulseResponse
 
double jointLimitHigh = 0.0
 
double jointLimitLow = 0.0
 
bool limitless = true
 
double maxAcceleration = 10.0
 
double maxJerk = 500.0
 
double maxTargetTorque = 10.0
 
double maxVelocity = 3.0
 
double pid_derivative_gain = 0
 
double pid_integral_gain = 0
 
double pid_max_value = 1.0
 
double pid_proportional_gain = 0
 
double pushbackMargin = 5.0 / 180. * M_PI
 
double pushBackTorque = 100
 
double torqueToCurrent = 0.0
 

Detailed Description

Definition at line 47 of file VelocityManipulatingTorque.h.

Constructor & Destructor Documentation

◆ VelocityManipulatingTorqueControllerConfiguration()

VelocityManipulatingTorqueControllerConfiguration ( )

Definition at line 87 of file VelocityManipulatingTorque.cpp.

Member Function Documentation

◆ CreateTorqueConfigData()

VelocityManipulatingTorqueControllerConfigurationPtr CreateTorqueConfigData ( hardware_config::Config &  config,
bool  limitless,
float  jointLimitLow,
float  jointLimitHigh 
)
static

Definition at line 54 of file VelocityManipulatingTorque.cpp.

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Member Data Documentation

◆ accelerationGain

double accelerationGain = 0.1

Definition at line 60 of file VelocityManipulatingTorque.h.

◆ deadZone

double deadZone = 0.1

Definition at line 61 of file VelocityManipulatingTorque.h.

◆ decay

double decay = 0.99

Definition at line 62 of file VelocityManipulatingTorque.h.

◆ firFilterImpulseResponse

std::vector<float> firFilterImpulseResponse

Definition at line 72 of file VelocityManipulatingTorque.h.

◆ jointLimitHigh

double jointLimitHigh = 0.0

Definition at line 69 of file VelocityManipulatingTorque.h.

◆ jointLimitLow

double jointLimitLow = 0.0

Definition at line 69 of file VelocityManipulatingTorque.h.

◆ limitless

bool limitless = true

Definition at line 68 of file VelocityManipulatingTorque.h.

◆ maxAcceleration

double maxAcceleration = 10.0

Definition at line 64 of file VelocityManipulatingTorque.h.

◆ maxJerk

double maxJerk = 500.0

Definition at line 65 of file VelocityManipulatingTorque.h.

◆ maxTargetTorque

double maxTargetTorque = 10.0

Definition at line 67 of file VelocityManipulatingTorque.h.

◆ maxVelocity

double maxVelocity = 3.0

Definition at line 63 of file VelocityManipulatingTorque.h.

◆ pid_derivative_gain

double pid_derivative_gain = 0

Definition at line 58 of file VelocityManipulatingTorque.h.

◆ pid_integral_gain

double pid_integral_gain = 0

Definition at line 57 of file VelocityManipulatingTorque.h.

◆ pid_max_value

double pid_max_value = 1.0

Definition at line 59 of file VelocityManipulatingTorque.h.

◆ pid_proportional_gain

double pid_proportional_gain = 0

Definition at line 56 of file VelocityManipulatingTorque.h.

◆ pushbackMargin

double pushbackMargin = 5.0 / 180. * M_PI

Definition at line 70 of file VelocityManipulatingTorque.h.

◆ pushBackTorque

double pushBackTorque = 100

Definition at line 71 of file VelocityManipulatingTorque.h.

◆ torqueToCurrent

double torqueToCurrent = 0.0

Definition at line 66 of file VelocityManipulatingTorque.h.

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