defined in <armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice>
class NJointBimanualForceControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointBimanualForceControllerConfig:Data Members | |
| Ice::DoubleSeq | boxInitialPose |
| float | boxWidth |
| Ice::FloatSeq | CoMVecLeft |
| Ice::FloatSeq | CoMVecRight |
| string | dmpMode = "MinimumJerk" |
| string | dmpType = "Discrete" |
| float | dnull |
| float | filterCoeff |
| Ice::FloatSeq | forceD |
| Ice::FloatSeq | forceI |
| Ice::FloatSeq | forceOffsetLeft |
| Ice::FloatSeq | forceOffsetRight |
| Ice::FloatSeq | forceP |
| Ice::FloatSeq | forcePIDLimits |
| float | forceThreshold |
| Ice::FloatSeq | KdAdmittance |
| Ice::FloatSeq | KdImpedance |
| int | kernelSize = 100 |
| Ice::FloatSeq | KmAdmittance |
| Ice::FloatSeq | KmPID |
| float | knull |
| Ice::FloatSeq | KpAdmittance |
| Ice::FloatSeq | KpImpedance |
| Ice::FloatSeq | leftDesiredJointValues |
| float | massLeft |
| float | massRight |
| double | phaseDist0 = 50 |
| double | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| double | posToOriRatio = 10 |
| Ice::FloatSeq | rightDesiredJointValues |
| Ice::FloatSeq | targetWrench |
| double | timeDuration = 10 |
| float | torqueLimit |
| Ice::FloatSeq | torqueOffsetLeft |
| Ice::FloatSeq | torqueOffsetRight |
Detailed Description
Definition at line 30 of file ForceMPControllerInterface.ice.
Data Member Documentation
◆ boxInitialPose
| Ice::DoubleSeq boxInitialPose |
Definition at line 48 of file ForceMPControllerInterface.ice.
◆ boxWidth
| float boxWidth |
Definition at line 49 of file ForceMPControllerInterface.ice.
◆ CoMVecLeft
| Ice::FloatSeq CoMVecLeft |
Definition at line 74 of file ForceMPControllerInterface.ice.
◆ CoMVecRight
| Ice::FloatSeq CoMVecRight |
Definition at line 79 of file ForceMPControllerInterface.ice.
◆ dmpMode
| string dmpMode = "MinimumJerk" |
Definition at line 35 of file ForceMPControllerInterface.ice.
◆ dmpType
| string dmpType = "Discrete" |
Definition at line 36 of file ForceMPControllerInterface.ice.
◆ dnull
| float dnull |
Definition at line 91 of file ForceMPControllerInterface.ice.
◆ filterCoeff
| float filterCoeff |
Definition at line 70 of file ForceMPControllerInterface.ice.
◆ forceD
| Ice::FloatSeq forceD |
Definition at line 67 of file ForceMPControllerInterface.ice.
◆ forceI
| Ice::FloatSeq forceI |
Definition at line 66 of file ForceMPControllerInterface.ice.
◆ forceOffsetLeft
| Ice::FloatSeq forceOffsetLeft |
Definition at line 75 of file ForceMPControllerInterface.ice.
◆ forceOffsetRight
| Ice::FloatSeq forceOffsetRight |
Definition at line 80 of file ForceMPControllerInterface.ice.
◆ forceP
| Ice::FloatSeq forceP |
Definition at line 65 of file ForceMPControllerInterface.ice.
◆ forcePIDLimits
| Ice::FloatSeq forcePIDLimits |
Definition at line 68 of file ForceMPControllerInterface.ice.
◆ forceThreshold
| float forceThreshold |
Definition at line 95 of file ForceMPControllerInterface.ice.
◆ KdAdmittance
| Ice::FloatSeq KdAdmittance |
Definition at line 57 of file ForceMPControllerInterface.ice.
◆ KdImpedance
| Ice::FloatSeq KdImpedance |
Definition at line 55 of file ForceMPControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 34 of file ForceMPControllerInterface.ice.
◆ KmAdmittance
| Ice::FloatSeq KmAdmittance |
Definition at line 58 of file ForceMPControllerInterface.ice.
◆ KmPID
| Ice::FloatSeq KmPID |
Definition at line 59 of file ForceMPControllerInterface.ice.
◆ knull
| float knull |
Definition at line 90 of file ForceMPControllerInterface.ice.
◆ KpAdmittance
| Ice::FloatSeq KpAdmittance |
Definition at line 56 of file ForceMPControllerInterface.ice.
◆ KpImpedance
| Ice::FloatSeq KpImpedance |
Definition at line 54 of file ForceMPControllerInterface.ice.
◆ leftDesiredJointValues
| Ice::FloatSeq leftDesiredJointValues |
Definition at line 50 of file ForceMPControllerInterface.ice.
◆ massLeft
| float massLeft |
Definition at line 73 of file ForceMPControllerInterface.ice.
◆ massRight
| float massRight |
Definition at line 78 of file ForceMPControllerInterface.ice.
◆ phaseDist0
| double phaseDist0 = 50 |
Definition at line 41 of file ForceMPControllerInterface.ice.
◆ phaseDist1
| double phaseDist1 = 10 |
Definition at line 42 of file ForceMPControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 40 of file ForceMPControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 44 of file ForceMPControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 43 of file ForceMPControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 39 of file ForceMPControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 10 |
Definition at line 45 of file ForceMPControllerInterface.ice.
◆ rightDesiredJointValues
| Ice::FloatSeq rightDesiredJointValues |
Definition at line 51 of file ForceMPControllerInterface.ice.
◆ targetWrench
| Ice::FloatSeq targetWrench |
Definition at line 64 of file ForceMPControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 46 of file ForceMPControllerInterface.ice.
◆ torqueLimit
| float torqueLimit |
Definition at line 93 of file ForceMPControllerInterface.ice.
◆ torqueOffsetLeft
| Ice::FloatSeq torqueOffsetLeft |
Definition at line 76 of file ForceMPControllerInterface.ice.
◆ torqueOffsetRight
| Ice::FloatSeq torqueOffsetRight |
Definition at line 81 of file ForceMPControllerInterface.ice.
The documentation for this class was generated from the following file:
- armarx/control/deprecated_njoint_mp_controller/bimanual/ForceMPControllerInterface.ice
