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

interface DeprecatedNJointTaskSpaceAdmittanceDMPControllerInterface extends NJointControllerInterface { ... }

Inheritance diagram for DeprecatedNJointTaskSpaceAdmittanceDMPControllerInterface:

Operations
Ice::DoubleSeq	createDMPFromString (string dmpString)

double	getCanVal ()

string	getDMPAsString ()

string	getKinematicChainName ()

DoubleSeqSeq	getMPWeights ()

double	getVirtualTime ()

bool	isFinished ()

void	learnDMPFromFiles (Ice::StringSeq trajfiles)

void	learnJointDMPFromFiles (string jointTrajFile, Ice::FloatSeq currentJVS)

void	pauseDMP ()

void	removeAllViaPoints ()

void	resetDMP ()

void	resumeDMP ()

void	runDMP (Ice::DoubleSeq goals)

void	runDMPWithTime (Ice::DoubleSeq goals, double timeDuration)

void	setGoals (Ice::DoubleSeq goals)

void	setKdAdmittance (Eigen::Vector6f kdAdmittance)

void	setKdImpedance (Eigen::Vector6f kdImpedance)

void	setKmAdmittance (Eigen::Vector6f kmAdmittance)

void	setKpAdmittance (Eigen::Vector6f kpAdmittance)

void	setKpImpedance (Eigen::Vector6f kpImpedance)

void	setMPWeights (DoubleSeqSeq weights)

void	setNullspaceVelocityKd (Eigen::VectorXf jointValues)

void	setNullspaceVelocityKp (Eigen::VectorXf jointValues)

void	setPotentialForceBaseline (Eigen::Vector3f force, Eigen::Vector3f torque)

void	setStartAndGoals (Ice::DoubleSeq starts, Ice::DoubleSeq goals)

void	setTargetNullSpaceJointValues (Eigen::VectorXf jointValues)

void	setTCPCoMInFTFrame (Eigen::Vector3f com)

void	setTCPMass (float mass)

void	setUseNullSpaceJointDMP (bool enable)

void	setViaPoints (double canVal, Ice::DoubleSeq point)

void	stopDMP ()

Detailed Description

Definition at line 514 of file ControllerInterface.ice.

Operation Documentation

◆ createDMPFromString()

Ice::DoubleSeq createDMPFromString ( string dmpString )

◆ getCanVal()

double getCanVal ( )

◆ getDMPAsString()

string getDMPAsString ( )

◆ getKinematicChainName()

string getKinematicChainName ( )

◆ getMPWeights()

DoubleSeqSeq getMPWeights ( )

◆ getVirtualTime()

double getVirtualTime ( )

◆ isFinished()

bool isFinished ( )

◆ learnDMPFromFiles()

void learnDMPFromFiles ( Ice::StringSeq trajfiles )

◆ learnJointDMPFromFiles()

void learnJointDMPFromFiles	(	string	jointTrajFile,
		Ice::FloatSeq	currentJVS
	)

◆ pauseDMP()

void pauseDMP ( )

◆ removeAllViaPoints()

void removeAllViaPoints ( )

◆ resetDMP()

void resetDMP ( )

◆ resumeDMP()

void resumeDMP ( )

◆ runDMP()

void runDMP ( Ice::DoubleSeq goals )

◆ runDMPWithTime()

void runDMPWithTime	(	Ice::DoubleSeq	goals,
		double	timeDuration
	)

◆ setGoals()

void setGoals ( Ice::DoubleSeq goals )

◆ setKdAdmittance()

void setKdAdmittance ( Eigen::Vector6f kdAdmittance )

◆ setKdImpedance()

void setKdImpedance ( Eigen::Vector6f kdImpedance )

◆ setKmAdmittance()

void setKmAdmittance ( Eigen::Vector6f kmAdmittance )

◆ setKpAdmittance()

void setKpAdmittance ( Eigen::Vector6f kpAdmittance )

◆ setKpImpedance()

void setKpImpedance ( Eigen::Vector6f kpImpedance )

◆ setMPWeights()

void setMPWeights ( DoubleSeqSeq weights )

◆ setNullspaceVelocityKd()

void setNullspaceVelocityKd ( Eigen::VectorXf jointValues )

◆ setNullspaceVelocityKp()

void setNullspaceVelocityKp ( Eigen::VectorXf jointValues )

◆ setPotentialForceBaseline()

void setPotentialForceBaseline	(	Eigen::Vector3f	force,
		Eigen::Vector3f	torque
	)

◆ setStartAndGoals()

void setStartAndGoals	(	Ice::DoubleSeq	starts,
		Ice::DoubleSeq	goals
	)

◆ setTargetNullSpaceJointValues()

void setTargetNullSpaceJointValues ( Eigen::VectorXf jointValues )

◆ setTCPCoMInFTFrame()

void setTCPCoMInFTFrame ( Eigen::Vector3f com )

◆ setTCPMass()

void setTCPMass ( float mass )

◆ setUseNullSpaceJointDMP()

void setUseNullSpaceJointDMP ( bool enable )

◆ setViaPoints()

void setViaPoints	(	double	canVal,
		Ice::DoubleSeq	point
	)

◆ stopDMP()

void stopDMP ( )

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

armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice

Operations