#include <armarx/control/joint_controller/Torque.h>

Public Member Functions
	TorqueControllerConfiguration ()

Static Public Member Functions
static TorqueControllerConfigurationPtr	CreateTorqueConfigData (hardware_config::Config &config, bool limitless, float jointLimitLow, float jointLimitHigh)

Public Attributes
int	actuatorType

std::vector< float >	firFilterImpulseResponse

double	inertia

double	jointLimitHigh = 0.0

double	jointLimitLow = 0.0

double	Kd

bool	limitless = true

double	maxTorque

double	pid_derivative_gain

double	pid_dis

double	pid_integral_gain

double	pid_max_value

double	pid_min_value

double	pid_proportional_gain

double	pid_windup_guard

double	scalePI

double	scaleTorque

Constructor & Destructor Documentation

◆ TorqueControllerConfiguration()

TorqueControllerConfiguration ( )

Member Function Documentation

◆ CreateTorqueConfigData()

TorqueControllerConfigurationPtr CreateTorqueConfigData	(	hardware_config::Config &	config,
		bool	limitless,
		float	jointLimitLow,
		float	jointLimitHigh )

static

Member Data Documentation

◆ actuatorType

int actuatorType

◆ firFilterImpulseResponse

std::vector<float> firFilterImpulseResponse

◆ inertia

double inertia

◆ jointLimitHigh

double jointLimitHigh = 0.0

◆ jointLimitLow

double jointLimitLow = 0.0

◆ Kd

double Kd

◆ limitless

bool limitless = true

◆ maxTorque

double maxTorque

◆ pid_derivative_gain

double pid_derivative_gain

◆ pid_dis

double pid_dis

◆ pid_integral_gain

double pid_integral_gain

◆ pid_max_value

double pid_max_value

◆ pid_min_value

double pid_min_value

◆ pid_proportional_gain

double pid_proportional_gain

◆ pid_windup_guard

double pid_windup_guard

◆ scalePI

double scalePI

◆ scaleTorque

double scaleTorque

The documentation for this class was generated from the following files:

armarx/control/joint_controller/Torque.h
armarx/control/joint_controller/Torque.cpp

Public Member Functions

Static Public Member Functions

Public Attributes