NJointCCDMPControllerInterface Interface Reference

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

interface NJointCCDMPControllerInterface extends NJointControllerInterface { ... }

Inheritance diagram for NJointCCDMPControllerInterface:

Operations
bool	isFinished ()
void	learnDMPFromFiles (int dmpId, Ice::StringSeq trajfiles)
void	runDMP ()
void	setControllerTarget (float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode)
void	setGoals (int dmpId, Ice::DoubleSeq goals)
void	setNullspaceJointVelocities (StringFloatDictionary nullspaceJointVelocities)
void	setTemporalFactor (int dmpId, double tau)
void	setTorqueKp (StringFloatDictionary torqueKp)
void	setViaPoints (int dmpId, double canVal, Ice::DoubleSeq point)

Detailed Description

Definition at line 152 of file ControllerInterface.ice.

Operation Documentation

isFinished()

bool isFinished

(

)

learnDMPFromFiles()

void learnDMPFromFiles	(	int	dmpId,
		Ice::StringSeq	trajfiles
	)

runDMP()

void runDMP

(

)

setControllerTarget()

void setControllerTarget	(	float	avoidJointLimitsKp,
		NJointTaskSpaceDMPControllerMode::CartesianSelection	mode
	)

setGoals()

void setGoals	(	int	dmpId,
		Ice::DoubleSeq	goals
	)

setNullspaceJointVelocities()

void setNullspaceJointVelocities

(

StringFloatDictionary

nullspaceJointVelocities

)

setTemporalFactor()

void setTemporalFactor	(	int	dmpId,
		double	tau
	)

setTorqueKp()

void setTorqueKp

(

StringFloatDictionary

torqueKp

)

setViaPoints()

void setViaPoints	(	int	dmpId,
		double	canVal,
		Ice::DoubleSeq	point
	)

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

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