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

class NJointTaskSpaceDMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointTaskSpaceDMPControllerConfig:

Data Members
string	debugName

double	dmpAmplitude = 1

float	DMPKd = 20

string	dmpMode = "MinimumJerk"

string	dmpStyle = "Discrete"

string	frameName = ""

float	Kd_AngularVel

float	Kd_LinearVel

int	kernelSize = 100

float	Kp_AngularVel

float	Kp_LinearVel

double	maxAngularVel

double	maxJointVelocity

double	maxLinearVel

NJointTaskSpaceDMPControllerMode::CartesianSelection	mode

string	nodeSetName = ""

double	phaseDist0 = 50

double	phaseDist1 = 10

double	phaseK = 10

double	phaseKpOri = 0.1

double	phaseKpPos = 1

double	phaseL = 10

float	pos_filter

double	posToOriRatio = 100

double	tau = 1

string	tcpName = ""

double	timeDuration = 10

float	vel_filter

Detailed Description

Definition at line 42 of file ControllerInterface.ice.

Data Member Documentation

◆ debugName

string debugName

Definition at line 72 of file ControllerInterface.ice.

◆ dmpAmplitude

double dmpAmplitude = 1

Definition at line 51 of file ControllerInterface.ice.

◆ DMPKd

float DMPKd = 20

Definition at line 46 of file ControllerInterface.ice.

◆ dmpMode

string dmpMode = "MinimumJerk"

Definition at line 49 of file ControllerInterface.ice.

◆ dmpStyle

string dmpStyle = "Discrete"

Definition at line 50 of file ControllerInterface.ice.

◆ frameName

string frameName = ""

Definition at line 65 of file ControllerInterface.ice.

◆ Kd_AngularVel

float Kd_AngularVel

Definition at line 77 of file ControllerInterface.ice.

◆ Kd_LinearVel

float Kd_LinearVel

Definition at line 75 of file ControllerInterface.ice.

◆ kernelSize

int kernelSize = 100

Definition at line 47 of file ControllerInterface.ice.

◆ Kp_AngularVel

float Kp_AngularVel

Definition at line 76 of file ControllerInterface.ice.

◆ Kp_LinearVel

float Kp_LinearVel

Definition at line 74 of file ControllerInterface.ice.

◆ maxAngularVel

double maxAngularVel

Definition at line 70 of file ControllerInterface.ice.

◆ maxJointVelocity

double maxJointVelocity

Definition at line 71 of file ControllerInterface.ice.

◆ maxLinearVel

double maxLinearVel

Definition at line 69 of file ControllerInterface.ice.

◆ mode

NJointTaskSpaceDMPControllerMode::CartesianSelection mode

Initial value:

=

NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll

Definition at line 66 of file ControllerInterface.ice.

◆ nodeSetName

string nodeSetName = ""

Definition at line 63 of file ControllerInterface.ice.

◆ phaseDist0

double phaseDist0 = 50

Definition at line 55 of file ControllerInterface.ice.

◆ phaseDist1

double phaseDist1 = 10

Definition at line 56 of file ControllerInterface.ice.

◆ phaseK

double phaseK = 10

Definition at line 54 of file ControllerInterface.ice.

◆ phaseKpOri

double phaseKpOri = 0.1

Definition at line 58 of file ControllerInterface.ice.

◆ phaseKpPos

double phaseKpPos = 1

Definition at line 57 of file ControllerInterface.ice.

◆ phaseL

double phaseL = 10

Definition at line 53 of file ControllerInterface.ice.

◆ pos_filter

float pos_filter

Definition at line 79 of file ControllerInterface.ice.

◆ posToOriRatio

double posToOriRatio = 100

Definition at line 60 of file ControllerInterface.ice.

◆ tau

double tau = 1

Definition at line 48 of file ControllerInterface.ice.

◆ tcpName

string tcpName = ""

Definition at line 64 of file ControllerInterface.ice.

◆ timeDuration

double timeDuration = 10

Definition at line 59 of file ControllerInterface.ice.

◆ vel_filter

float vel_filter

Definition at line 80 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

Data Members