List of all members | Public Member Functions | Public Attributes
BimanualGMMMotionGen Class Reference

#include <armarx/control/ds_controller/DSRTBimanualController.h>

Public Member Functions

 BimanualGMMMotionGen ()
 
 BimanualGMMMotionGen (const std::string &fileName)
 
void getGMMParamsFromJsonFile (const std::string &fileName)
 
void updateDesiredVelocity (const Eigen::Vector3f &leftarm_PositionInMeter, const Eigen::Vector3f &rightarm_PositionInMeter, float positionErrorToleranceInMeter, float desiredZ, float correction_x, float correction_y, float correction_z)
 

Public Attributes

Eigen::Vector3f left_DS_DesiredVelocity
 
Eigen::Vector3f left_right_position_errorInMeter
 
BimanualGMMPtr leftarm_gmm
 
BimanualGMRParameters leftarm_gmmParas
 
Eigen::Vector3f leftarm_Target
 
Eigen::Vector3f right_DS_DesiredVelocity
 
BimanualGMMPtr rightarm_gmm
 
BimanualGMRParameters rightarm_gmmParas
 
Eigen::Vector3f rightarm_Target
 
float scaling
 
float v_max
 

Constructor & Destructor Documentation

◆ BimanualGMMMotionGen() [1/2]

BimanualGMMMotionGen ( )
inline

◆ BimanualGMMMotionGen() [2/2]

BimanualGMMMotionGen ( const std::string & fileName)
inline

Member Function Documentation

◆ getGMMParamsFromJsonFile()

void getGMMParamsFromJsonFile ( const std::string & fileName)
inline

◆ updateDesiredVelocity()

void updateDesiredVelocity ( const Eigen::Vector3f & leftarm_PositionInMeter,
const Eigen::Vector3f & rightarm_PositionInMeter,
float positionErrorToleranceInMeter,
float desiredZ,
float correction_x,
float correction_y,
float correction_z )
inline

Member Data Documentation

◆ left_DS_DesiredVelocity

Eigen::Vector3f left_DS_DesiredVelocity

◆ left_right_position_errorInMeter

Eigen::Vector3f left_right_position_errorInMeter

◆ leftarm_gmm

BimanualGMMPtr leftarm_gmm

◆ leftarm_gmmParas

BimanualGMRParameters leftarm_gmmParas

◆ leftarm_Target

Eigen::Vector3f leftarm_Target

◆ right_DS_DesiredVelocity

Eigen::Vector3f right_DS_DesiredVelocity

◆ rightarm_gmm

BimanualGMMPtr rightarm_gmm

◆ rightarm_gmmParas

BimanualGMRParameters rightarm_gmmParas

◆ rightarm_Target

Eigen::Vector3f rightarm_Target

◆ scaling

float scaling

◆ v_max

float v_max
The documentation for this class was generated from the following file: