defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>
class DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig:Data Members | |
| string | dmpMode = "MinimumJerk" |
| string | dmpType = "Discrete" |
| Eigen::VectorXf | Dnull |
| bool | enableTCPGravityCompensation |
| float | forceDeadZone |
| float | forceFilter |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName |
| force torque sensor More... | |
| float | jointTorqueLimit |
| Eigen::Vector6f | kdAdmittance |
| Eigen::Vector6f | kdImpedance |
| int | kernelSize = 100 |
| Eigen::Vector6f | kmAdmittance |
| Eigen::VectorXf | Knull |
| Eigen::Vector6f | kpAdmittance |
| Eigen::Vector6f | kpImpedance |
| string | nodeSetName |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseL = 10 |
| double | posToOriRatio = 100 |
| float | qvelFilter |
| Eigen::VectorXf | targetNullSpaceJointValues |
| Eigen::Vector3f | tcpCoMInForceSensorFrame |
| float | tcpMass = 0.0f |
| double | timeDuration |
| float | torqueDeadZone |
| bool | useNullSpaceJointDMP |
| float | waitTimeForCalibration |
Detailed Description
Definition at line 467 of file ControllerInterface.ice.
Data Member Documentation
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 471 of file ControllerInterface.ice.
◆ dmpType
| string dmpType = "Discrete" |
Definition at line 472 of file ControllerInterface.ice.
◆ Dnull
| Eigen::VectorXf Dnull |
Definition at line 492 of file ControllerInterface.ice.
◆ enableTCPGravityCompensation
| bool enableTCPGravityCompensation |
Definition at line 507 of file ControllerInterface.ice.
◆ forceDeadZone
| float forceDeadZone |
Definition at line 503 of file ControllerInterface.ice.
◆ forceFilter
| float forceFilter |
Definition at line 502 of file ControllerInterface.ice.
◆ forceFrameName
| string forceFrameName = "ArmR8_Wri2" |
Definition at line 501 of file ControllerInterface.ice.
◆ forceSensorName
| string forceSensorName |
force torque sensor
Definition at line 500 of file ControllerInterface.ice.
◆ jointTorqueLimit
| float jointTorqueLimit |
Definition at line 496 of file ControllerInterface.ice.
◆ kdAdmittance
| Eigen::Vector6f kdAdmittance |
Definition at line 487 of file ControllerInterface.ice.
◆ kdImpedance
| Eigen::Vector6f kdImpedance |
Definition at line 485 of file ControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 470 of file ControllerInterface.ice.
◆ kmAdmittance
| Eigen::Vector6f kmAdmittance |
Definition at line 488 of file ControllerInterface.ice.
◆ Knull
| Eigen::VectorXf Knull |
Definition at line 491 of file ControllerInterface.ice.
◆ kpAdmittance
| Eigen::Vector6f kpAdmittance |
Definition at line 486 of file ControllerInterface.ice.
◆ kpImpedance
| Eigen::Vector6f kpImpedance |
Definition at line 484 of file ControllerInterface.ice.
◆ nodeSetName
| string nodeSetName |
Definition at line 474 of file ControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 479 of file ControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 480 of file ControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 478 of file ControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 477 of file ControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 481 of file ControllerInterface.ice.
◆ qvelFilter
| float qvelFilter |
Definition at line 497 of file ControllerInterface.ice.
◆ targetNullSpaceJointValues
| Eigen::VectorXf targetNullSpaceJointValues |
Definition at line 494 of file ControllerInterface.ice.
◆ tcpCoMInForceSensorFrame
| Eigen::Vector3f tcpCoMInForceSensorFrame |
Definition at line 509 of file ControllerInterface.ice.
◆ tcpMass
| float tcpMass = 0.0f |
Definition at line 508 of file ControllerInterface.ice.
◆ timeDuration
| double timeDuration |
Definition at line 473 of file ControllerInterface.ice.
◆ torqueDeadZone
| float torqueDeadZone |
Definition at line 504 of file ControllerInterface.ice.
◆ useNullSpaceJointDMP
| bool useNullSpaceJointDMP |
Definition at line 493 of file ControllerInterface.ice.
◆ waitTimeForCalibration
| float waitTimeForCalibration |
Definition at line 505 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
