defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>
class DeprecatedNJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for DeprecatedNJointPeriodicTSDMPCompliantControllerConfig:Data Members | |
| float | changePositionTolerance |
| float | changeTimerThreshold |
| double | dmpAmplitude = 1 |
| Eigen::VectorXf | Dnull |
| bool | enableTCPGravityCompensation |
| float | forceDeadZone |
| float | forceFilter = 0.8 |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName = "FT R" |
| force torque sensor | |
| bool | ignoreWSLimitChecks = false |
| float | jointTorqueLimit |
| Eigen::Vector6f | kdImpedance |
| int | kernelSize = 100 |
| Eigen::VectorXf | Knull |
| Eigen::Vector6f | kpImpedance |
| string | nodeSetName = "" |
| float | phaseDist0 = 50 |
| float | phaseDist1 = 10 |
| double | phaseK = 10 |
| double | phaseKpOri = 0.1 |
| double | phaseKpPos = 1 |
| double | phaseL = 10 |
| Eigen::Vector4f | pidForce |
| double | posToOriRatio = 100 |
| float | qvelFilter |
| Eigen::VectorXf | targetNullSpaceJointValues |
| Eigen::Vector3f | tcpCoMInForceSensorFrame |
| float | tcpMass = 0.0f |
| double | timeDuration = 10 |
| Eigen::Matrix4f | toolFrameInRoot |
| tool setup (Effective frame in root) | |
| float | torqueDeadZone |
| float | waitTimeForCalibration = 0.1 |
| Ice::FloatSeq | ws_x |
| adaptive settings | |
| Ice::FloatSeq | ws_y |
| Ice::FloatSeq | ws_z |
Detailed Description
Definition at line 562 of file ControllerInterface.ice.
Data Member Documentation
◆ changePositionTolerance
| float changePositionTolerance |
Definition at line 599 of file ControllerInterface.ice.
◆ changeTimerThreshold
| float changeTimerThreshold |
Definition at line 600 of file ControllerInterface.ice.
◆ dmpAmplitude
| double dmpAmplitude = 1 |
Definition at line 566 of file ControllerInterface.ice.
◆ Dnull
| Eigen::VectorXf Dnull |
Definition at line 584 of file ControllerInterface.ice.
◆ enableTCPGravityCompensation
| bool enableTCPGravityCompensation |
Definition at line 610 of file ControllerInterface.ice.
◆ forceDeadZone
| float forceDeadZone |
Definition at line 606 of file ControllerInterface.ice.
◆ forceFilter
| float forceFilter = 0.8 |
Definition at line 605 of file ControllerInterface.ice.
◆ forceFrameName
| string forceFrameName = "ArmR8_Wri2" |
Definition at line 604 of file ControllerInterface.ice.
◆ forceSensorName
| string forceSensorName = "FT R" |
force torque sensor
Definition at line 603 of file ControllerInterface.ice.
◆ ignoreWSLimitChecks
| bool ignoreWSLimitChecks = false |
Definition at line 598 of file ControllerInterface.ice.
◆ jointTorqueLimit
| float jointTorqueLimit |
Definition at line 587 of file ControllerInterface.ice.
◆ kdImpedance
| Eigen::Vector6f kdImpedance |
Definition at line 580 of file ControllerInterface.ice.
◆ kernelSize
| int kernelSize = 100 |
Definition at line 565 of file ControllerInterface.ice.
◆ Knull
| Eigen::VectorXf Knull |
Definition at line 583 of file ControllerInterface.ice.
◆ kpImpedance
| Eigen::Vector6f kpImpedance |
Definition at line 579 of file ControllerInterface.ice.
◆ nodeSetName
| string nodeSetName = "" |
Definition at line 568 of file ControllerInterface.ice.
◆ phaseDist0
| float phaseDist0 = 50 |
Definition at line 572 of file ControllerInterface.ice.
◆ phaseDist1
| float phaseDist1 = 10 |
Definition at line 573 of file ControllerInterface.ice.
◆ phaseK
| double phaseK = 10 |
Definition at line 571 of file ControllerInterface.ice.
◆ phaseKpOri
| double phaseKpOri = 0.1 |
Definition at line 575 of file ControllerInterface.ice.
◆ phaseKpPos
| double phaseKpPos = 1 |
Definition at line 574 of file ControllerInterface.ice.
◆ phaseL
| double phaseL = 10 |
Definition at line 570 of file ControllerInterface.ice.
◆ pidForce
| Eigen::Vector4f pidForce |
Definition at line 581 of file ControllerInterface.ice.
◆ posToOriRatio
| double posToOriRatio = 100 |
Definition at line 576 of file ControllerInterface.ice.
◆ qvelFilter
| float qvelFilter |
Definition at line 588 of file ControllerInterface.ice.
◆ targetNullSpaceJointValues
| Eigen::VectorXf targetNullSpaceJointValues |
Definition at line 585 of file ControllerInterface.ice.
◆ tcpCoMInForceSensorFrame
| Eigen::Vector3f tcpCoMInForceSensorFrame |
Definition at line 612 of file ControllerInterface.ice.
◆ tcpMass
| float tcpMass = 0.0f |
Definition at line 611 of file ControllerInterface.ice.
◆ timeDuration
| double timeDuration = 10 |
Definition at line 567 of file ControllerInterface.ice.
◆ toolFrameInRoot
| Eigen::Matrix4f toolFrameInRoot |
tool setup (Effective frame in root)
Definition at line 615 of file ControllerInterface.ice.
◆ torqueDeadZone
| float torqueDeadZone |
Definition at line 607 of file ControllerInterface.ice.
◆ waitTimeForCalibration
| float waitTimeForCalibration = 0.1 |
Definition at line 608 of file ControllerInterface.ice.
◆ ws_x
| Ice::FloatSeq ws_x |
adaptive settings
Definition at line 595 of file ControllerInterface.ice.
◆ ws_y
| Ice::FloatSeq ws_y |
Definition at line 596 of file ControllerInterface.ice.
◆ ws_z
| Ice::FloatSeq ws_z |
Definition at line 597 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
