defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>
class NJointPeriodicTSDMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointPeriodicTSDMPControllerConfig:Data Members | |
| float | avoidJointLimitsKp = 1 |
| double | dmpAmplitude = 1 |
| float | forceFilter = 0.8 |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName = "FT R" |
| int | kernelSize = 100 |
| float | Kori |
| float | Kpf |
| float | Kpos |
| double | maxAngularVel |
| float | maxJointVel |
| double | maxLinearVel |
| float | minimumReactForce = 0 |
| string | nodeSetName = "" |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| double | posToOriRatio = 100 |
| double | timeDuration = 10 |
| float | waitTimeForCalibration = 0.1 |
Detailed Description
Definition at line 167 of file ControllerInterface.ice.
Data Member Documentation
◆ avoidJointLimitsKp
| float avoidJointLimitsKp = 1 |
Definition at line 190 of file ControllerInterface.ice.
◆ dmpAmplitude
| double dmpAmplitude = 1 |
Definition at line 172 of file ControllerInterface.ice.
◆ forceFilter
| float forceFilter = 0.8 |
Definition at line 197 of file ControllerInterface.ice.
◆ forceFrameName
| string forceFrameName = "ArmR8_Wri2" |
Definition at line 196 of file ControllerInterface.ice.
◆ forceSensorName
| string forceSensorName = "FT R" |
Definition at line 195 of file ControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 171 of file ControllerInterface.ice.
◆ Kori
| float Kori |
Definition at line 193 of file ControllerInterface.ice.
◆ Kpf
| float Kpf |
Definition at line 199 of file ControllerInterface.ice.
◆ Kpos
| float Kpos |
Definition at line 192 of file ControllerInterface.ice.
◆ maxAngularVel
| double maxAngularVel |
Definition at line 188 of file ControllerInterface.ice.
◆ maxJointVel
| float maxJointVel |
Definition at line 189 of file ControllerInterface.ice.
◆ maxLinearVel
| double maxLinearVel |
Definition at line 187 of file ControllerInterface.ice.
◆ minimumReactForce
| float minimumReactForce = 0 |
Definition at line 201 of file ControllerInterface.ice.
◆ nodeSetName
| string nodeSetName = "" |
Definition at line 185 of file ControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 177 of file ControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 178 of file ControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 176 of file ControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 180 of file ControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 179 of file ControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 175 of file ControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 181 of file ControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 173 of file ControllerInterface.ice.
◆ waitTimeForCalibration
| float waitTimeForCalibration = 0.1 |
Definition at line 198 of file ControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice
