TSCtrlInterface Interface Reference

defined in <armarx/control/njoint_controller/task_space/ControllerInterface.ice>

interface TSCtrlInterface extends armarx::control::ConfigurableNJointControllerInterface { ... }

Inheritance diagram for TSCtrlInterface:

Operations
void	calibrateFTSensor ()
	ft sensor
void	disableCoordinator ()
void	enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)
Ice::DoubleSeq	getCurrentTCPPose (string nodeSetName)
armarx::aron::data::dto::Dict	getRTStatus ()
Ice::FloatSeq	getTCPVel (string rns)
bool	isSafeForceTorque (string nodeSetName)
bool	updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)
void	useCoordinator (string type, armarx::aron::data::dto::Dict dto)
bool	wasNotSafeForceTorque (string nodeSetName)

Detailed Description

Definition at line 42 of file ControllerInterface.ice.

Operation Documentation

calibrateFTSensor()

void calibrateFTSensor

(

)

ft sensor

disableCoordinator()

void disableCoordinator

(

)

enableSafeGuardForceTorque()

void enableSafeGuardForceTorque	(	string	rns,
		bool	forceGuard,
		bool	torqueGuard )

getCurrentTCPPose()

Ice::DoubleSeq getCurrentTCPPose

(

string

nodeSetName

)

getRTStatus()

armarx::aron::data::dto::Dict getRTStatus

(

)

getTCPVel()

Ice::FloatSeq getTCPVel

(

string

rns

)

isSafeForceTorque()

bool isSafeForceTorque

(

string

nodeSetName

)

updateTargetPose()

bool updateTargetPose	(	TargetPoseMap	targetPoseMap,
		TargetNullspaceMap	targetNullspaceMap )

useCoordinator()

void useCoordinator	(	string	type,
		armarx::aron::data::dto::Dict	dto )

wasNotSafeForceTorque()

bool wasNotSafeForceTorque

(

string

nodeSetName

)

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The documentation for this interface was generated from the following file:

• armarx/control/njoint_controller/task_space/ControllerInterface.ice