defined in <armarx/control/ds_controller/DSControllerInterface.ice>
class DSRTBimanualControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for DSRTBimanualControllerConfig:Detailed Description
Definition at line 65 of file DSControllerInterface.ice.
Data Member Documentation
◆ contactDistanceTolerance
| float contactDistanceTolerance |
Definition at line 120 of file DSControllerInterface.ice.
◆ contactForce
| float contactForce |
Definition at line 99 of file DSControllerInterface.ice.
◆ couplingForceLimit
| float couplingForceLimit = 50 |
Definition at line 71 of file DSControllerInterface.ice.
◆ couplingStiffness
| float couplingStiffness = 10 |
Definition at line 70 of file DSControllerInterface.ice.
◆ desiredTorqueDisturbance
| float desiredTorqueDisturbance |
Definition at line 116 of file DSControllerInterface.ice.
◆ filterTimeConstant
| float filterTimeConstant = 0.01 |
Definition at line 78 of file DSControllerInterface.ice.
◆ forceErrorZDisturbance
| float forceErrorZDisturbance |
Definition at line 113 of file DSControllerInterface.ice.
◆ forceErrorZGain
| float forceErrorZGain |
Definition at line 115 of file DSControllerInterface.ice.
◆ forceErrorZThreshold
| float forceErrorZThreshold |
Definition at line 114 of file DSControllerInterface.ice.
◆ forceFilterCoeff
| float forceFilterCoeff |
Definition at line 112 of file DSControllerInterface.ice.
◆ forceLeftOffset
| Ice::FloatSeq forceLeftOffset |
Definition at line 124 of file DSControllerInterface.ice.
◆ forceRightOffset
| Ice::FloatSeq forceRightOffset |
Definition at line 125 of file DSControllerInterface.ice.
◆ forwardGain
| float forwardGain = 1 |
Definition at line 73 of file DSControllerInterface.ice.
◆ gmmParamsFile
| string gmmParamsFile = "" |
Definition at line 96 of file DSControllerInterface.ice.
◆ guardDesiredDirection
| bool guardDesiredDirection |
Definition at line 104 of file DSControllerInterface.ice.
◆ guardTargetZDown
| float guardTargetZDown |
Definition at line 101 of file DSControllerInterface.ice.
◆ guardTargetZUp
| float guardTargetZUp |
Definition at line 100 of file DSControllerInterface.ice.
◆ highPassFilterFactor
| float highPassFilterFactor |
Definition at line 105 of file DSControllerInterface.ice.
◆ left_desiredQuaternion
| Ice::FloatSeq left_desiredQuaternion |
Definition at line 86 of file DSControllerInterface.ice.
◆ left_oriDown
| Ice::FloatSeq left_oriDown |
Definition at line 109 of file DSControllerInterface.ice.
◆ left_oriUp
| Ice::FloatSeq left_oriUp |
Definition at line 108 of file DSControllerInterface.ice.
◆ leftarm_qnullspaceVec
| Ice::FloatSeq leftarm_qnullspaceVec |
Definition at line 89 of file DSControllerInterface.ice.
◆ leftForceOffsetZ
| float leftForceOffsetZ |
Definition at line 118 of file DSControllerInterface.ice.
◆ liftingForce
| float liftingForce |
Definition at line 103 of file DSControllerInterface.ice.
◆ loweringForce
| float loweringForce |
Definition at line 102 of file DSControllerInterface.ice.
◆ mountingCorrectionFilterFactor
| float mountingCorrectionFilterFactor |
Definition at line 122 of file DSControllerInterface.ice.
◆ mountingDistanceTolerance
| float mountingDistanceTolerance |
Definition at line 121 of file DSControllerInterface.ice.
◆ nullspaceDamping
| float nullspaceDamping |
Definition at line 93 of file DSControllerInterface.ice.
◆ nullspaceKp
| float nullspaceKp |
Definition at line 92 of file DSControllerInterface.ice.
◆ NullTorqueLimit
| float NullTorqueLimit = 0.2 |
Definition at line 80 of file DSControllerInterface.ice.
◆ oriDamping
| float oriDamping |
Definition at line 75 of file DSControllerInterface.ice.
◆ oriKp
| float oriKp |
Definition at line 76 of file DSControllerInterface.ice.
◆ posiDamping
| Ice::FloatSeq posiDamping |
Definition at line 69 of file DSControllerInterface.ice.
◆ posiKp
| float posiKp = 5 |
Definition at line 67 of file DSControllerInterface.ice.
◆ positionErrorTolerance
| float positionErrorTolerance |
Definition at line 97 of file DSControllerInterface.ice.
◆ right_desiredQuaternion
| Ice::FloatSeq right_desiredQuaternion |
Definition at line 87 of file DSControllerInterface.ice.
◆ right_oriDown
| Ice::FloatSeq right_oriDown |
Definition at line 111 of file DSControllerInterface.ice.
◆ right_oriUp
| Ice::FloatSeq right_oriUp |
Definition at line 110 of file DSControllerInterface.ice.
◆ rightarm_qnullspaceVec
| Ice::FloatSeq rightarm_qnullspaceVec |
Definition at line 90 of file DSControllerInterface.ice.
◆ rightForceOffsetZ
| float rightForceOffsetZ |
Definition at line 119 of file DSControllerInterface.ice.
◆ TorqueFilterConstant
| float TorqueFilterConstant |
Definition at line 117 of file DSControllerInterface.ice.
◆ torqueLimit
| float torqueLimit = 1 |
Definition at line 79 of file DSControllerInterface.ice.
◆ v_max
| float v_max = 0.15 |
Definition at line 68 of file DSControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/ds_controller/DSControllerInterface.ice
