ControllerInterface.ice
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package RobotAPI::NJointControllerInterface
17  * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
18  * @date 2017
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #pragma once
24 
25 #include <ArmarXCore/interface/serialization/Eigen.ice>
26 
27 #include <RobotAPI/interface/core/Trajectory.ice>
28 #include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
29 
30 module armarx
31 {
32  module NJointTaskSpaceDMPControllerMode
33  {
35  {
36  ePosition = 7,
38  eAll = 15
39  };
40  };
41 
42  class NJointTaskSpaceDMPControllerConfig extends NJointControllerConfig
43  {
44 
45  // dmp configuration
46  float DMPKd = 20;
47  int kernelSize = 100;
48  double tau = 1;
49  string dmpMode = "MinimumJerk";
50  string dmpStyle = "Discrete";
51  double dmpAmplitude = 1;
52 
53  double phaseL = 10;
54  double phaseK = 10;
55  double phaseDist0 = 50;
56  double phaseDist1 = 10;
57  double phaseKpPos = 1;
58  double phaseKpOri = 0.1;
59  double timeDuration = 10;
60  double posToOriRatio = 100;
61 
62  // velocity controller configuration
63  string nodeSetName = "";
64  string tcpName = "";
65  string frameName = "";
68 
69  double maxLinearVel;
70  double maxAngularVel;
72  string debugName;
73 
74  float Kp_LinearVel;
75  float Kd_LinearVel;
78 
79  float pos_filter;
80  float vel_filter;
81  };
82 
83  interface NJointTaskSpaceDMPControllerInterface extends NJointControllerInterface
84  {
85  void learnDMPFromFiles(Ice::StringSeq trajfiles);
86  bool isFinished();
87  void runDMP(Ice::DoubleSeq goals, double tau);
88  void runDMPWithTime(Ice::DoubleSeq goals, double time);
89 
90  void setSpeed(double times);
91  void setViaPoints(double canVal, Ice::DoubleSeq point);
92  void removeAllViaPoints();
93  void setGoals(Ice::DoubleSeq goals);
94 
95  double getCanVal();
96  void resetDMP();
97  void stopDMP();
98  void pauseDMP();
99  void resumeDMP();
100 
101  void setControllerTarget(float avoidJointLimitsKp,
103  void setTorqueKp(StringFloatDictionary torqueKp);
104  void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
105  string getDMPAsString();
106  Ice::DoubleSeq createDMPFromString(string dmpString);
107 
108  void setMPWeights(DoubleSeqSeq weights);
109  DoubleSeqSeq getMPWeights();
110 
111  void setLinearVelocityKd(float kd);
112  void setLinearVelocityKp(float kp);
113  void setAngularVelocityKd(float kd);
114  void setAngularVelocityKp(float kp);
115  };
116 
117  class NJointCCDMPControllerConfig extends NJointControllerConfig
118  {
119 
120  // dmp configuration
121  float DMPKd = 20;
122  int kernelSize = 100;
123  double tau = 1;
124  int dmpMode = 1;
125  int dmpNum = 2;
126 
127  // phaseStop technique
128  double phaseL = 10;
129  double phaseK = 10;
130  double phaseDist0 = 50;
131  double phaseDist1 = 10;
132  double phaseKpPos = 1;
133  double phaseKpOri = 0.1;
134 
135 
136  // misc
137  Ice::DoubleSeq timeDurations;
138  Ice::StringSeq dmpTypes;
139  Ice::DoubleSeq amplitudes;
140 
141 
142  double posToOriRatio = 100;
143 
144  // velocity controller configuration
145  string nodeSetName = "";
146  string tcpName = "";
149  };
150 
151  interface NJointCCDMPControllerInterface extends NJointControllerInterface
152  {
153  void learnDMPFromFiles(int dmpId, Ice::StringSeq trajfiles);
154  bool isFinished();
155  void runDMP();
156 
157  void setTemporalFactor(int dmpId, double tau);
158  void setViaPoints(int dmpId, double canVal, Ice::DoubleSeq point);
159  void setGoals(int dmpId, Ice::DoubleSeq goals);
160 
161  void setControllerTarget(float avoidJointLimitsKp,
163  void setTorqueKp(StringFloatDictionary torqueKp);
164  void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
165  };
166 
167  class NJointPeriodicTSDMPControllerConfig extends NJointControllerConfig
168  {
169 
170  // dmp configuration
171  int kernelSize = 100;
172  double dmpAmplitude = 1;
173  double timeDuration = 10;
174 
175  double phaseL = 10;
176  double phaseK = 10;
177  double phaseDist0 = 50;
178  double phaseDist1 = 10;
179  double phaseKpPos = 1;
180  double phaseKpOri = 0.1;
181  double posToOriRatio = 100;
182 
183 
184  // velocity controller configuration
185  string nodeSetName = "";
186 
187  double maxLinearVel;
189  float maxJointVel;
190  float avoidJointLimitsKp = 1;
191 
192  float Kpos;
193  float Kori;
194 
195  string forceSensorName = "FT R";
196  string forceFrameName = "ArmR8_Wri2";
197  float forceFilter = 0.8;
198  float waitTimeForCalibration = 0.1;
199  float Kpf;
200 
201  float minimumReactForce = 0;
202  };
203 
204  interface NJointPeriodicTSDMPControllerInterface extends NJointControllerInterface
205  {
206  void learnDMPFromFiles(Ice::StringSeq trajfiles);
207 
208  bool isFinished();
209  void runDMP(Ice::DoubleSeq goals, double tau);
210 
211  void setSpeed(double times);
212  void setGoals(Ice::DoubleSeq goals);
213  void setAmplitude(double amplitude);
214 
215  double getCanVal();
216  };
217 
218  class NJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig
219  {
220 
221  // dmp configuration
222  int kernelSize = 100;
223  double dmpAmplitude = 1;
224  double timeDuration = 10;
225 
226  double phaseL = 10;
227  double phaseK = 10;
228  float phaseDist0 = 50;
229  float phaseDist1 = 10;
230  double phaseKpPos = 1;
231  double phaseKpOri = 0.1;
232  double posToOriRatio = 100;
233 
234 
235  // velocity controller configuration
236  string nodeSetName = "";
237 
239  Ice::FloatSeq Kpos;
240  Ice::FloatSeq Dpos;
241  Ice::FloatSeq Kori;
242  Ice::FloatSeq Dori;
243 
245  float Knull;
246  float Dnull;
247 
248  string forceSensorName = "FT R";
249  string forceFrameName = "ArmR8_Wri2";
250  float forceFilter = 0.8;
251  float waitTimeForCalibration = 0.1;
252  float Kpf;
253 
254  float minimumReactForce = 0;
255 
257  float velFilter;
258 
261 
262  Ice::FloatSeq ws_x;
263  Ice::FloatSeq ws_y;
264  Ice::FloatSeq ws_z;
265 
266  bool ignoreWSLimitChecks = false;
267 
268  float adaptCoeff;
274 
275  bool isManipulability = false;
276  Ice::DoubleSeq kmani;
277  Ice::DoubleSeq positionManipulability;
278  Ice::DoubleSeq maniWeight;
279  };
280 
281  interface NJointPeriodicTSDMPCompliantControllerInterface extends NJointControllerInterface
282  {
283  void learnDMPFromFiles(Ice::StringSeq trajfiles);
284  void learnDMPFromTrajectory(TrajectoryBase trajectory);
285 
286  bool isFinished();
287  void runDMP(Ice::DoubleSeq goals, double tau);
288 
289  void setSpeed(double times);
290  void setGoals(Ice::DoubleSeq goals);
291  void setAmplitude(double amplitude);
292  void setTargetForceInRootFrame(float force);
293 
294  double getCanVal();
295  };
296 
297  class DeprecatedNJointTaskSpaceDMPControllerConfig extends NJointControllerConfig
298  {
299 
300  // dmp configuration
301  float DMPKd = 20;
302  int kernelSize = 100;
303  double tau = 1;
304  string dmpMode = "MinimumJerk";
305  string dmpStyle = "Discrete";
306  double dmpAmplitude = 1;
307 
308  double phaseL = 10;
309  double phaseK = 10;
310  double phaseDist0 = 50;
311  double phaseDist1 = 10;
312  double phaseKpPos = 1;
313  double phaseKpOri = 0.1;
314  double timeDuration = 10;
315  double posToOriRatio = 100;
316 
317  // velocity controller configuration
318  string nodeSetName = "";
319  string tcpName = "";
320  string frameName = "";
323 
324  double maxLinearVel;
327  string debugName;
328 
333 
334  float pos_filter;
335  float vel_filter;
336 
339  float forceFilter;
341  Eigen::Vector3f forceThreshold;
342  string forceFrameName = "ArmR8_Wri2";
343  };
344 
345  interface DeprecatedNJointTaskSpaceDMPControllerInterface extends NJointControllerInterface
346  {
347  void learnDMPFromFiles(Ice::StringSeq trajfiles);
348  bool isFinished();
349  void runDMP(Ice::DoubleSeq goals, double tau);
350  void runDMPWithTime(Ice::DoubleSeq goals, double time);
351 
352  void setSpeed(double times);
353  void setViaPoints(double canVal, Ice::DoubleSeq point);
354  void removeAllViaPoints();
355  void setGoals(Ice::DoubleSeq goals);
356 
357  double getCanVal();
358  void resetDMP();
359  void stopDMP();
360  void pauseDMP();
361  void resumeDMP();
362  bool isDMPRunning();
363 
364  void setControllerTarget(float avoidJointLimitsKp,
366  void setTorqueKp(StringFloatDictionary torqueKp);
367  void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities);
368  string getDMPAsString();
369  Ice::DoubleSeq createDMPFromString(string dmpString);
370 
371  void setMPWeights(DoubleSeqSeq weights);
372  DoubleSeqSeq getMPWeights();
373 
374  void setLinearVelocityKd(float kd);
375  void setLinearVelocityKp(float kp);
376  void setAngularVelocityKd(float kd);
377  void setAngularVelocityKp(float kp);
378 
379  void enableForceStop();
380  void disableForceStop();
381  void setForceThreshold(Eigen::Vector3f forceThreshold);
382  };
383 
384  class DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig extends NJointControllerConfig
385  {
386 
387  // dmp configuration
388  int kernelSize = 100;
389  string dmpMode = "MinimumJerk";
390  string dmpType = "Discrete";
391  double timeDuration;
392  string nodeSetName;
393 
394  // phaseStop technique
395  double phaseL = 10;
396  double phaseK = 10;
397  double phaseDist0 = 50;
398  double phaseDist1 = 10;
399  double posToOriRatio = 100;
400 
401 
402  Ice::FloatSeq Kpos;
403  Ice::FloatSeq Dpos;
404  Ice::FloatSeq Kori;
405  Ice::FloatSeq Dori;
406 
407  Ice::FloatSeq Knull;
408  Ice::FloatSeq Dnull;
409 
412 
413  float torqueLimit;
414 
415 
418  float forceFilter;
420  Eigen::Vector3f forceThreshold;
421  string forceFrameName = "ArmR8_Wri2";
422  };
423 
425  NJointControllerInterface
426  {
427  void learnDMPFromFiles(Ice::StringSeq trajfiles);
428  void learnJointDMPFromFiles(string jointTrajFile, Ice::FloatSeq currentJVS);
429  void setUseNullSpaceJointDMP(bool enable);
430 
431  bool isFinished();
432  bool isDMPRunning();
433  void runDMP(Ice::DoubleSeq goals);
434  void runDMPWithTime(Ice::DoubleSeq goals, double timeDuration);
435 
436  void setViaPoints(double canVal, Ice::DoubleSeq point);
437  void setGoals(Ice::DoubleSeq goals);
438  void setDefaultNullSpaceJointValues(Eigen::VectorXf jointValues);
439 
440  double getVirtualTime();
441 
442  void resetDMP();
443  void stopDMP();
444  void resumeDMP();
445  void removeAllViaPoints();
446 
447  void setMPWeights(DoubleSeqSeq weights);
448  DoubleSeqSeq getMPWeights();
449 
450  void setLinearVelocityKd(Eigen::Vector3f kd);
451  void setLinearVelocityKp(Eigen::Vector3f kp);
452  void setAngularVelocityKd(Eigen::Vector3f kd);
453  void setAngularVelocityKp(Eigen::Vector3f kp);
454  void setNullspaceVelocityKd(Eigen::VectorXf jointValues);
455  void setNullspaceVelocityKp(Eigen::VectorXf jointValues);
456 
457  void enableForceStop();
458  void disableForceStop();
459  void setForceThreshold(Eigen::Vector3f forceThreshold);
460 
461  string getDMPAsString();
462  Ice::DoubleSeq createDMPFromString(string dmpString);
463 
464  double getCanVal();
465  };
466 
467  class DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig extends NJointControllerConfig
468  {
469  // dmp configuration
470  int kernelSize = 100;
471  string dmpMode = "MinimumJerk";
472  string dmpType = "Discrete";
473  double timeDuration;
474  string nodeSetName;
475 
476  // phaseStop technique
477  double phaseL = 10;
478  double phaseK = 10;
479  double phaseDist0 = 50;
480  double phaseDist1 = 10;
481  double posToOriRatio = 100;
482 
483  // control parameter ts
489 
490  // nullspace config
491  Eigen::VectorXf Knull;
492  Eigen::VectorXf Dnull;
494  Eigen::VectorXf targetNullSpaceJointValues;
495 
497  float qvelFilter;
498 
499  /// force torque sensor
501  string forceFrameName = "ArmR8_Wri2";
502  float forceFilter;
506 
508  float tcpMass = 0.0f;
509  Eigen::Vector3f tcpCoMInForceSensorFrame;
510  // Eigen::Vector3f forceOffsetExternal;
511  // Eigen::Vector3f torqueOffsetExternal;
512  };
513 
515  NJointControllerInterface
516  {
517  void setTargetNullSpaceJointValues(Eigen::VectorXf jointValues);
518 
519  // MP related
520  void learnDMPFromFiles(Ice::StringSeq trajfiles);
521  void learnJointDMPFromFiles(string jointTrajFile, Ice::FloatSeq currentJVS);
522  void setUseNullSpaceJointDMP(bool enable);
523 
524  void setViaPoints(double canVal, Ice::DoubleSeq point);
525  void setGoals(Ice::DoubleSeq goals);
526  void setStartAndGoals(Ice::DoubleSeq starts, Ice::DoubleSeq goals);
527  bool isFinished();
528  void runDMP(Ice::DoubleSeq goals);
529  void runDMPWithTime(Ice::DoubleSeq goals, double timeDuration);
530  double getVirtualTime();
531  void resetDMP();
532  void stopDMP();
533  void resumeDMP();
534  void pauseDMP();
535  void removeAllViaPoints();
536  void setMPWeights(DoubleSeqSeq weights);
537  DoubleSeqSeq getMPWeights();
538  string getDMPAsString();
539  Ice::DoubleSeq createDMPFromString(string dmpString);
540  double getCanVal();
541 
542  void setKpImpedance(Eigen::Vector6f kpImpedance);
543  void setKdImpedance(Eigen::Vector6f kdImpedance);
544 
545  void setKpAdmittance(Eigen::Vector6f kpAdmittance);
546  void setKdAdmittance(Eigen::Vector6f kdAdmittance);
547  void setKmAdmittance(Eigen::Vector6f kmAdmittance);
548 
549  void setTCPMass(float mass);
550  void setTCPCoMInFTFrame(Eigen::Vector3f com);
551 
552  void setNullspaceVelocityKd(Eigen::VectorXf jointValues);
553  void setNullspaceVelocityKp(Eigen::VectorXf jointValues);
554 
555  // RTController::ControllerInfo getControllerInfo();
556  string getKinematicChainName();
557 
558  // Eigen::Vector6f getFilteredForceTorque();
559  void setPotentialForceBaseline(Eigen::Vector3f force, Eigen::Vector3f torque);
560  };
561 
562  class DeprecatedNJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig
563  {
564  // dmp configuration
565  int kernelSize = 100;
566  double dmpAmplitude = 1;
567  double timeDuration = 10;
568  string nodeSetName = "";
569 
570  double phaseL = 10;
571  double phaseK = 10;
572  float phaseDist0 = 50;
573  float phaseDist1 = 10;
574  double phaseKpPos = 1;
575  double phaseKpOri = 0.1;
576  double posToOriRatio = 100;
577 
578  // controller gains
581  Eigen::Vector4f pidForce;
582 
583  Eigen::VectorXf Knull;
584  Eigen::VectorXf Dnull;
585  Eigen::VectorXf targetNullSpaceJointValues;
586 
588  float qvelFilter;
589 
590  // float minimumReactForce = 0;
591  // float maxLinearVel;
592  // float maxAngularVel;
593 
594  /// adaptive settings
595  Ice::FloatSeq ws_x;
596  Ice::FloatSeq ws_y;
597  Ice::FloatSeq ws_z;
598  bool ignoreWSLimitChecks = false;
601 
602  /// force torque sensor
603  string forceSensorName = "FT R";
604  string forceFrameName = "ArmR8_Wri2";
605  float forceFilter = 0.8;
608  float waitTimeForCalibration = 0.1;
609 
611  float tcpMass = 0.0f;
612  Eigen::Vector3f tcpCoMInForceSensorFrame;
613 
614  /// tool setup (Effective frame in root)
616  };
617 
619  NJointControllerInterface
620  {
621  void learnDMPFromFiles(Ice::StringSeq trajfiles);
622  void learnDMPFromTrajectory(TrajectoryBase trajectory);
623 
624  bool isFinished();
625  void runDMP(Ice::DoubleSeq goals, double tau);
626 
627  void resetDMP();
628  void stopDMP();
629  void resumeDMP();
630  void pauseDMP();
631 
632  void setSpeed(double times);
633  void setGoals(Ice::DoubleSeq goals);
634  void setAmplitude(double amplitude);
635  void setTargetForceInRootFrame(float force);
636 
637  void setKpImpedance(Eigen::Vector6f kpImpedance);
638  void setKdImpedance(Eigen::Vector6f kdImpedance);
639 
640  double getCanVal();
641 
642  string getKinematicChainName();
643  };
644 };
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig
Definition: ControllerInterface.ice:384
armarx::NJointPeriodicTSDMPCompliantControllerConfig::ws_x
Ice::FloatSeq ws_x
Definition: ControllerInterface.ice:262
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig::defaultNullSpaceJointValues
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Definition: ControllerInterface.ice:411
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig
Definition: ControllerInterface.ice:467
armarx::NJointPeriodicTSDMPCompliantControllerConfig::reactThreshold
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Definition: ControllerInterface.ice:269
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::kmAdmittance
Eigen::Vector6f kmAdmittance
Definition: ControllerInterface.ice:488
armarx::NJointTaskSpaceDMPControllerConfig
Definition: ControllerInterface.ice:42
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::maxAngularVel
double maxAngularVel
Definition: ControllerInterface.ice:325
armarx::NJointTaskSpaceDMPControllerInterface
Definition: ControllerInterface.ice:83
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig::timeDuration
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Definition: ControllerInterface.ice:391
armarx::NJointPeriodicTSDMPCompliantControllerConfig::Kpos
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Definition: ControllerInterface.ice:239
armarx::NJointPeriodicTSDMPControllerConfig::Kpos
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Definition: ControllerInterface.ice:192
armarx::NJointPeriodicTSDMPCompliantControllerConfig::maxJointTorque
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Definition: ControllerInterface.ice:238
armarx::NJointPeriodicTSDMPControllerConfig::Kori
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Definition: ControllerInterface.ice:193
armarx::NJointPeriodicTSDMPCompliantControllerConfig::adaptForceCoeff
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Definition: ControllerInterface.ice:271
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig::Dori
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Definition: ControllerInterface.ice:405
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::forceDeadZone
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Definition: ControllerInterface.ice:503
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::forceThreshold
Eigen::Vector3f forceThreshold
Definition: ControllerInterface.ice:341
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Definition: ControllerInterface.ice:507
armarx::DeprecatedNJointTaskSpaceDMPControllerInterface
Definition: ControllerInterface.ice:345
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::maxJointVelocity
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Definition: ControllerInterface.ice:326
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armarx::NJointTaskSpaceDMPControllerConfig::debugName
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Definition: ControllerInterface.ice:72
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Definition: ControllerInterface.ice:273
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::kdAdmittance
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Definition: ControllerInterface.ice:487
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerInterface
Definition: ControllerInterface.ice:424
armarx::DeprecatedNJointPeriodicTSDMPCompliantControllerConfig::kpImpedance
Eigen::Vector6f kpImpedance
Definition: ControllerInterface.ice:579
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig::Dpos
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Definition: ControllerInterface.ice:403
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::debugName
string debugName
Definition: ControllerInterface.ice:327
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Definition: ControllerInterface.ice:36
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::Kd_AngularVel
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Definition: ControllerInterface.ice:332
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Definition: ControllerInterface.ice:272
armarx::NJointPeriodicTSDMPCompliantControllerConfig::desiredNullSpaceJointValues
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Definition: ControllerInterface.ice:244
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::forceSensorName
string forceSensorName
force torque sensor
Definition: ControllerInterface.ice:500
armarx::NJointPeriodicTSDMPCompliantControllerConfig::adaptCoeff
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Definition: ControllerInterface.ice:268
armarx::NJointPeriodicTSDMPCompliantControllerInterface
Definition: ControllerInterface.ice:281
armarx::DeprecatedNJointPeriodicTSDMPCompliantControllerConfig::Dnull
Eigen::VectorXf Dnull
Definition: ControllerInterface.ice:584
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::targetNullSpaceJointValues
Eigen::VectorXf targetNullSpaceJointValues
Definition: ControllerInterface.ice:494
armarx::DeprecatedNJointPeriodicTSDMPCompliantControllerConfig::ws_z
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Definition: ControllerInterface.ice:597
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::Knull
Eigen::VectorXf Knull
Definition: ControllerInterface.ice:491
armarx::DeprecatedNJointPeriodicTSDMPCompliantControllerConfig::tcpCoMInForceSensorFrame
Eigen::Vector3f tcpCoMInForceSensorFrame
Definition: ControllerInterface.ice:612
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::forceFilter
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Definition: ControllerInterface.ice:339
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::nodeSetName
string nodeSetName
Definition: ControllerInterface.ice:474
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::kpImpedance
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Definition: ControllerInterface.ice:484
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::waitTimeForCalibration
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Definition: ControllerInterface.ice:338
armarx::NJointPeriodicTSDMPCompliantControllerConfig::Kori
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Definition: ControllerInterface.ice:241
armarx::DeprecatedNJointTaskSpaceDMPControllerConfig::Kp_AngularVel
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Definition: ControllerInterface.ice:331
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::timeDuration
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Definition: ControllerInterface.ice:473
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::forceFilter
float forceFilter
Definition: ControllerInterface.ice:502
armarx::NJointPeriodicTSDMPControllerConfig::maxJointVel
float maxJointVel
Definition: ControllerInterface.ice:189
armarx::DeprecatedNJointTaskSpaceAdmittanceDMPControllerConfig::torqueDeadZone
float torqueDeadZone
Definition: ControllerInterface.ice:504
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig::nodeSetName
string nodeSetName
Definition: ControllerInterface.ice:392
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Definition: ControllerInterface.ice:151
armarx::DeprecatedNJointPeriodicTSDMPCompliantControllerConfig::Knull
Eigen::VectorXf Knull
Definition: ControllerInterface.ice:583
armarx::DeprecatedNJointTaskSpaceImpedanceDMPControllerConfig::forceSensorName
string forceSensorName
Definition: ControllerInterface.ice:416
armarx::NJointTaskSpaceDMPControllerConfig::maxLinearVel
double maxLinearVel
Definition: ControllerInterface.ice:69
armarx::NJointTaskSpaceDMPControllerConfig::Kp_AngularVel
float Kp_AngularVel
Definition: ControllerInterface.ice:76
armarx::NJointTaskSpaceDMPControllerConfig::maxAngularVel
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Definition: ControllerInterface.ice:70
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armarx::DeprecatedNJointTaskSpaceDMPControllerConfig
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armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
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