armarx::control::njoint_mp_controller::task_space Namespace Reference

This file is part of ArmarX. More...

Classes
struct	AdmittanceData
struct	BiKACConfig
struct	Constraint
struct	Constraint1
class	KeypointMPController
	Brief description of class KeypointMPController. More...
struct	KVILImpedanceMPConfig
class	NJointBiKAC
	Brief description of class NJointBiKAC. More...
class	NJointKeypointsAdmittanceMPController
	Brief description of class NJointKeypointsAdmittanceMPController. More...
class	NJointKeypointsImpedanceMPController
	Brief description of class NJointKeypointsImpedanceMPController. More...
class	NJointKVILImpedanceMPController
	Brief description of class NJointKVILImpedanceMPController. More...
class	NJointTSAdmittanceMPController
	Brief description of class NJointTSAdmittanceMPController. More...
class	NJointTSCollisionAvoidanceImpedanceMPController
	Brief description of class NJointTSCollisionAvoidanceImpedanceMPController. More...
class	NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController
	Brief description of class NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController. More...
class	NJointTSImpedanceMPController
	Brief description of class NJointTSImpedanceMPController. More...
class	NJointTSMixedImpedanceVelocityMPController
	Brief description of class NJointTSMixedImpedanceVelocityMPController. More...
class	NJointTSObjectCollisionAvoidanceImpedanceMPController
class	NJointTSVelocityMPController
	Brief description of class NJointTSVelocityMPController. More...
class	NJointWipingImpMPController
	Brief description of class NJointWipingImpMPController. More...
class	NJointWipingMixImpVelColMPController
	Brief description of class NJointWipingMixImpVelColMPController. More...
class	NJointWipingVelMPController
	Brief description of class NJointWipingVelMPController. More...
class	TSMPAdm
class	TSMPController
class	TSMPImp
class	TSMPImpCol
class	TSMPMixImpVel
class	TSMPMixImpVelCol
class	TSMPVel
class	TSMPVelCol
class	TSMPVeloCol

Typedefs
using	ConstraintList = std::vector<Constraint1>
using	ConstraintPtr = std::shared_ptr<Constraint1>

Functions
void	fromAron (const arondto::AdmittanceData &dto, AdmittanceData &bo)
void	fromAron (const arondto::BiKACConfig &dto, BiKACConfig &bo)
void	fromAron (const arondto::Constraint &dto, Constraint &bo)
void	toAron (arondto::AdmittanceData &dto, const AdmittanceData &bo)
void	toAron (arondto::BiKACConfig &dto, const BiKACConfig &bo)
void	toAron (arondto::Constraint &dto, const Constraint &bo)

Variables
NJointControllerRegistration< KeypointMPController >	registrationControllerKeypointMPController ("KeypointMPController")
NJointControllerRegistration< NJointBiKAC >	registrationControllerNJointBiKAC ("NJointBiKAC")
NJointControllerRegistration< NJointKeypointsAdmittanceMPController >	registrationControllerNJointKeypointsAdmittanceMPController ("NJointKeypointsAdmittanceMPController")
NJointControllerRegistration< NJointKeypointsImpedanceMPController >	registrationControllerNJointKeypointsImpedanceMPController ("NJointKeypointsImpedanceMPController")
NJointControllerRegistration< NJointKVILImpedanceMPController >	registrationControllerNJointKVILImpedanceMPController ("NJointKVILImpedanceMPController")
NJointControllerRegistration< NJointTSAdmittanceMPController >	registrationControllerNJointTSAdmittanceMPController ("NJointTSAdmittanceMPController")
NJointControllerRegistration< NJointTSCollisionAvoidanceImpedanceMPController >	registrationControllerNJointTSCollisionAvoidanceImpedanceMPController ("NJointTSCollisionAvoidanceImpedanceMPController")
NJointControllerRegistration< NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController >	registrationControllerNJointTSCollisionAvoidanceMixedImpedanceVelocityMPController ("NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController")
NJointControllerRegistration< NJointTSImpedanceMPController >	registrationControllerNJointTSImpedanceMPController ("NJointTSImpedanceMPController")
NJointControllerRegistration< NJointTSMixedImpedanceVelocityMPController >	registrationControllerNJointTSMixedImpedanceVelocityMPController ("NJointTSMixedImpedanceVelocityMPController")
NJointControllerRegistration< NJointTSObjectCollisionAvoidanceImpedanceMPController >	registrationControllerNJointTSObjectCollisionAvoidanceImpedanceMPController ("NJointTSObjectCollisionAvoidanceImpedanceMPController")
NJointControllerRegistration< NJointTSVelocityMPController >	registrationControllerNJointTSVelocityMPController ("NJointTSVelocityMPController")
NJointControllerRegistration< NJointWipingImpMPController >	registrationControllerNJointWipingImpMPController ("NJointWipingImpMPController")
NJointControllerRegistration< NJointWipingMixImpVelColMPController >	registrationControllerNJointWipingMixImpVelColMPController ("NJointWipingMixImpVelColMPController")
NJointControllerRegistration< NJointWipingVelMPController >	registrationControllerNJointWipingVelMPController ("NJointWipingVelMPController")
NJointControllerRegistration< TSMPAdm >	registrationControllerTSMPAdm ("TSMPAdm")
	TSMPAdm.
NJointControllerRegistration< TSMPImp >	registrationControllerTSMPImp ("TSMPImp")
	TSMPImp.
NJointControllerRegistration< TSMPImpCol >	registrationControllerTSMPImpCol ("TSMPImpCol")
	TSMPImpCol.
NJointControllerRegistration< TSMPMixImpVel >	registrationControllerTSMPMixImpVel ("TSMPMixImpVel")
	TSMPMixImpVel.
NJointControllerRegistration< TSMPMixImpVelCol >	registrationControllerTSMPMixImpVelCol ("TSMPMixImpVelCol")
	TSMPMixImpVelCol.
NJointControllerRegistration< TSMPVel >	registrationControllerTSMPVel ("TSMPVel")
	TSMPVel.
NJointControllerRegistration< TSMPVelCol >	registrationControllerTSMPVelCol ("TSMPVelCol")
	TSMPVelCol.
NJointControllerRegistration< TSMPVeloCol >	registrationControllerTSMPVeloCol ("TSMPVeloCol")
	TSMPVeloCol.

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Jianfeng Gao ( jianfeng dot gao at kit dot edu )

Date

2023

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Jianfeng Gao ( jianfeng dot gao at kit dot edu )

Date

2025

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Jianfeng Gao ( jianfeng dot gao at kit dot edu )

Date

2024

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Typedef Documentation

ConstraintList

using ConstraintList = std::vector<Constraint1>

Definition at line 57 of file KVILImpedanceController.h.

ConstraintPtr

using ConstraintPtr = std::shared_ptr<Constraint1>

Definition at line 56 of file KVILImpedanceController.h.

Function Documentation

fromAron() [1/3]

void fromAron	(	const arondto::AdmittanceData &	dto,
		AdmittanceData &	bo )

Definition at line 70 of file aron_conversions.cpp.

fromAron() [2/3]

void fromAron	(	const arondto::BiKACConfig &	dto,
		BiKACConfig &	bo )

Definition at line 90 of file aron_conversions.cpp.

Here is the call graph for this function:

fromAron() [3/3]

void fromAron	(	const arondto::Constraint &	dto,
		Constraint &	bo )

Definition at line 10 of file aron_conversions.cpp.

toAron() [1/3]

void toAron	(	arondto::AdmittanceData &	dto,
		const AdmittanceData &	bo )

Definition at line 80 of file aron_conversions.cpp.

toAron() [2/3]

void toAron	(	arondto::BiKACConfig &	dto,
		const BiKACConfig &	bo )

Definition at line 130 of file aron_conversions.cpp.

Here is the call graph for this function:

toAron() [3/3]

void toAron	(	arondto::Constraint &	dto,
		const Constraint &	bo )

Definition at line 40 of file aron_conversions.cpp.

Variable Documentation

registrationControllerKeypointMPController

NJointControllerRegistration< KeypointMPController > registrationControllerKeypointMPController("KeypointMPController")

(

"KeypointMPController"

)

registrationControllerNJointBiKAC

NJointControllerRegistration< NJointBiKAC > registrationControllerNJointBiKAC("NJointBiKAC")

(

"NJointBiKAC"

)

registrationControllerNJointKeypointsAdmittanceMPController

NJointControllerRegistration< NJointKeypointsAdmittanceMPController > registrationControllerNJointKeypointsAdmittanceMPController("NJointKeypointsAdmittanceMPController")

(

"NJointKeypointsAdmittanceMPController"

)

registrationControllerNJointKeypointsImpedanceMPController

NJointControllerRegistration< NJointKeypointsImpedanceMPController > registrationControllerNJointKeypointsImpedanceMPController("NJointKeypointsImpedanceMPController")

(

"NJointKeypointsImpedanceMPController"

)

registrationControllerNJointKVILImpedanceMPController

NJointControllerRegistration< NJointKVILImpedanceMPController > registrationControllerNJointKVILImpedanceMPController("NJointKVILImpedanceMPController")

(

"NJointKVILImpedanceMPController"

)

registrationControllerNJointTSAdmittanceMPController

NJointControllerRegistration< NJointTSAdmittanceMPController > registrationControllerNJointTSAdmittanceMPController("NJointTSAdmittanceMPController")

(

"NJointTSAdmittanceMPController"

)

registrationControllerNJointTSCollisionAvoidanceImpedanceMPController

NJointControllerRegistration< NJointTSCollisionAvoidanceImpedanceMPController > registrationControllerNJointTSCollisionAvoidanceImpedanceMPController("NJointTSCollisionAvoidanceImpedanceMPController")

(

"NJointTSCollisionAvoidanceImpedanceMPController"

)

registrationControllerNJointTSCollisionAvoidanceMixedImpedanceVelocityMPController

NJointControllerRegistration< NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController > registrationControllerNJointTSCollisionAvoidanceMixedImpedanceVelocityMPController("NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController")

(

"NJointTSCollisionAvoidanceMixedImpedanceVelocityMPController"

)

registrationControllerNJointTSImpedanceMPController

NJointControllerRegistration< NJointTSImpedanceMPController > registrationControllerNJointTSImpedanceMPController("NJointTSImpedanceMPController")

(

"NJointTSImpedanceMPController"

)

registrationControllerNJointTSMixedImpedanceVelocityMPController

NJointControllerRegistration< NJointTSMixedImpedanceVelocityMPController > registrationControllerNJointTSMixedImpedanceVelocityMPController("NJointTSMixedImpedanceVelocityMPController")

(

"NJointTSMixedImpedanceVelocityMPController"

)

registrationControllerNJointTSObjectCollisionAvoidanceImpedanceMPController

NJointControllerRegistration< NJointTSObjectCollisionAvoidanceImpedanceMPController > registrationControllerNJointTSObjectCollisionAvoidanceImpedanceMPController("NJointTSObjectCollisionAvoidanceImpedanceMPController")

(

"NJointTSObjectCollisionAvoidanceImpedanceMPController"

)

registrationControllerNJointTSVelocityMPController

NJointControllerRegistration< NJointTSVelocityMPController > registrationControllerNJointTSVelocityMPController("NJointTSVelocityMPController")

(

"NJointTSVelocityMPController"

)

registrationControllerNJointWipingImpMPController

NJointControllerRegistration< NJointWipingImpMPController > registrationControllerNJointWipingImpMPController("NJointWipingImpMPController")

(

"NJointWipingImpMPController"

)

registrationControllerNJointWipingMixImpVelColMPController

NJointControllerRegistration< NJointWipingMixImpVelColMPController > registrationControllerNJointWipingMixImpVelColMPController("NJointWipingMixImpVelColMPController")

(

"NJointWipingMixImpVelColMPController"

)

registrationControllerNJointWipingVelMPController

NJointControllerRegistration< NJointWipingVelMPController > registrationControllerNJointWipingVelMPController("NJointWipingVelMPController")

(

"NJointWipingVelMPController"

)

registrationControllerTSMPAdm

NJointControllerRegistration< TSMPAdm > registrationControllerTSMPAdm("TSMPAdm")

(

"TSMPAdm"

)

TSMPAdm.

registrationControllerTSMPImp

NJointControllerRegistration< TSMPImp > registrationControllerTSMPImp("TSMPImp")

(

"TSMPImp"

)

TSMPImp.

registrationControllerTSMPImpCol

NJointControllerRegistration< TSMPImpCol > registrationControllerTSMPImpCol("TSMPImpCol")

(

"TSMPImpCol"

)

TSMPImpCol.

registrationControllerTSMPMixImpVel

NJointControllerRegistration< TSMPMixImpVel > registrationControllerTSMPMixImpVel("TSMPMixImpVel")

(

"TSMPMixImpVel"

)

TSMPMixImpVel.

registrationControllerTSMPMixImpVelCol

NJointControllerRegistration< TSMPMixImpVelCol > registrationControllerTSMPMixImpVelCol("TSMPMixImpVelCol")

(

"TSMPMixImpVelCol"

)

TSMPMixImpVelCol.

registrationControllerTSMPVel

NJointControllerRegistration< TSMPVel > registrationControllerTSMPVel("TSMPVel")

(

"TSMPVel"

)

TSMPVel.

registrationControllerTSMPVelCol

NJointControllerRegistration< TSMPVelCol > registrationControllerTSMPVelCol("TSMPVelCol")

(

"TSMPVelCol"

)

TSMPVelCol.

registrationControllerTSMPVeloCol

NJointControllerRegistration< TSMPVeloCol > registrationControllerTSMPVeloCol("TSMPVeloCol")

(

"TSMPVeloCol"

)

TSMPVeloCol.