defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ObjLevelControllerInterface.ice>
class NJointBimanualObjLevelMultiMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointBimanualObjLevelMultiMPControllerConfig:Data Members | |
| Ice::FloatSeq | CoMVecLeft |
| Ice::FloatSeq | CoMVecRight |
| float | dmpAmplitude = 1.0 |
| string | dmpLeftType = "Discrete" |
| string | dmpMode = "MinimumJerk" |
| string | dmpObjType = "Discrete" |
| string | dmpRightType = "Discrete" |
| float | dnull |
| float | filterCoeff |
| Ice::FloatSeq | forceD |
| Ice::FloatSeq | forceI |
| Ice::FloatSeq | forceOffsetLeft |
| Ice::FloatSeq | forceOffsetRight |
| Ice::FloatSeq | forceP |
| Ice::FloatSeq | forcePIDLimits |
| Ice::FloatSeq | forceThreshold |
| double | ftCalibrationTime |
| Ice::FloatSeq | KdAdmittance |
| Ice::FloatSeq | KdImpedance |
| int | kernelSize = 100 |
| Ice::FloatSeq | KmAdmittance |
| Ice::FloatSeq | KmPID |
| float | knull |
| Ice::FloatSeq | KpAdmittance |
| Ice::FloatSeq | KpImpedance |
| Ice::FloatSeq | leftDesiredJointValues |
| float | massLeft |
| float | massRight |
| Ice::DoubleSeq | objInitialPose |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| double | posToOriRatio = 10 |
| Ice::FloatSeq | rightDesiredJointValues |
| Ice::FloatSeq | targetWrench |
| double | timeDuration = 10 |
| float | torqueLimit |
| Ice::FloatSeq | torqueOffsetLeft |
| Ice::FloatSeq | torqueOffsetRight |
Detailed Description
Definition at line 176 of file ObjLevelControllerInterface.ice.
Data Member Documentation
◆ CoMVecLeft
| Ice::FloatSeq CoMVecLeft |
Definition at line 220 of file ObjLevelControllerInterface.ice.
◆ CoMVecRight
| Ice::FloatSeq CoMVecRight |
Definition at line 225 of file ObjLevelControllerInterface.ice.
◆ dmpAmplitude
| float dmpAmplitude = 1.0 |
Definition at line 185 of file ObjLevelControllerInterface.ice.
◆ dmpLeftType
| string dmpLeftType = "Discrete" |
Definition at line 182 of file ObjLevelControllerInterface.ice.
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 180 of file ObjLevelControllerInterface.ice.
◆ dmpObjType
| string dmpObjType = "Discrete" |
Definition at line 181 of file ObjLevelControllerInterface.ice.
◆ dmpRightType
| string dmpRightType = "Discrete" |
Definition at line 183 of file ObjLevelControllerInterface.ice.
◆ dnull
| float dnull |
Definition at line 230 of file ObjLevelControllerInterface.ice.
◆ filterCoeff
| float filterCoeff |
Definition at line 216 of file ObjLevelControllerInterface.ice.
◆ forceD
| Ice::FloatSeq forceD |
Definition at line 213 of file ObjLevelControllerInterface.ice.
◆ forceI
| Ice::FloatSeq forceI |
Definition at line 212 of file ObjLevelControllerInterface.ice.
◆ forceOffsetLeft
| Ice::FloatSeq forceOffsetLeft |
Definition at line 221 of file ObjLevelControllerInterface.ice.
◆ forceOffsetRight
| Ice::FloatSeq forceOffsetRight |
Definition at line 226 of file ObjLevelControllerInterface.ice.
◆ forceP
| Ice::FloatSeq forceP |
Definition at line 211 of file ObjLevelControllerInterface.ice.
◆ forcePIDLimits
| Ice::FloatSeq forcePIDLimits |
Definition at line 214 of file ObjLevelControllerInterface.ice.
◆ forceThreshold
| Ice::FloatSeq forceThreshold |
Definition at line 234 of file ObjLevelControllerInterface.ice.
◆ ftCalibrationTime
| double ftCalibrationTime |
Definition at line 236 of file ObjLevelControllerInterface.ice.
◆ KdAdmittance
| Ice::FloatSeq KdAdmittance |
Definition at line 205 of file ObjLevelControllerInterface.ice.
◆ KdImpedance
| Ice::FloatSeq KdImpedance |
Definition at line 203 of file ObjLevelControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 179 of file ObjLevelControllerInterface.ice.
◆ KmAdmittance
| Ice::FloatSeq KmAdmittance |
Definition at line 206 of file ObjLevelControllerInterface.ice.
◆ KmPID
| Ice::FloatSeq KmPID |
Definition at line 207 of file ObjLevelControllerInterface.ice.
◆ knull
| float knull |
Definition at line 229 of file ObjLevelControllerInterface.ice.
◆ KpAdmittance
| Ice::FloatSeq KpAdmittance |
Definition at line 204 of file ObjLevelControllerInterface.ice.
◆ KpImpedance
| Ice::FloatSeq KpImpedance |
Definition at line 202 of file ObjLevelControllerInterface.ice.
◆ leftDesiredJointValues
| Ice::FloatSeq leftDesiredJointValues |
Definition at line 198 of file ObjLevelControllerInterface.ice.
◆ massLeft
| float massLeft |
Definition at line 219 of file ObjLevelControllerInterface.ice.
◆ massRight
| float massRight |
Definition at line 224 of file ObjLevelControllerInterface.ice.
◆ objInitialPose
| Ice::DoubleSeq objInitialPose |
Definition at line 197 of file ObjLevelControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 190 of file ObjLevelControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 191 of file ObjLevelControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 189 of file ObjLevelControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 193 of file ObjLevelControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 192 of file ObjLevelControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 188 of file ObjLevelControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 10 |
Definition at line 194 of file ObjLevelControllerInterface.ice.
◆ rightDesiredJointValues
| Ice::FloatSeq rightDesiredJointValues |
Definition at line 199 of file ObjLevelControllerInterface.ice.
◆ targetWrench
| Ice::FloatSeq targetWrench |
Definition at line 210 of file ObjLevelControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 195 of file ObjLevelControllerInterface.ice.
◆ torqueLimit
| float torqueLimit |
Definition at line 232 of file ObjLevelControllerInterface.ice.
◆ torqueOffsetLeft
| Ice::FloatSeq torqueOffsetLeft |
Definition at line 222 of file ObjLevelControllerInterface.ice.
◆ torqueOffsetRight
| Ice::FloatSeq torqueOffsetRight |
Definition at line 227 of file ObjLevelControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/bimanual/ObjLevelControllerInterface.ice
