NJointBiKACInterface Interface Reference
defined in <armarx/control/njoint_mp_controller/task_space/ControllerInterface.ice>
interface NJointBiKACInterface extends armarx::control::NJointTaskspaceImpedanceControllerInterface, armarx::MPPoolInterface { ... }
Inheritance diagram for NJointBiKACInterface:Operations | |
| armarx::aron::data::dto::Dict | getBiKACConfig () |
| void | updateBiKACConfig (armarx::aron::data::dto::Dict config) |
| Operations inherited from NJointTaskspaceImpedanceControllerInterface | |
| void | calibrateFTSensor () |
| ft sensor More... | |
| void | enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard) |
| Ice::FloatSeq | getTCPVel (string rns) |
| bool | isSafeForceTorque (string nodeSetName) |
| bool | updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap) |
| Operations inherited from MPPoolInterface | |
| Ice::DoubleSeq | deserialize (string mpAsString) |
| double | getCanVal (string mpName) |
| utilities More... | |
| armarx::aron::data::dto::Dict | getMPConfig () |
| bool | getMPEnabled () |
| string | getNames () |
| bool | isFinished (string mpName) |
| bool | isFinishedAll () |
| void | learnFromCSV (Ice::StringSeq fileNames) |
| setting More... | |
| void | learnFromTrajs (armarx::aron::data::dto::Dict config) |
| void | pause (string mpName) |
| void | pauseAll () |
| void | removeAllViaPoint () |
| void | reset (string mpName) |
| void | resetAll () |
| void | resume (string mpName) |
| void | resumeAll () |
| string | serialize () |
| serialze More... | |
| void | set (StringDoubleSeqMap startVec, StringDoubleSeqMap goalVec, StringDoubleMap durationSec) |
| control More... | |
| void | setGoal (Ice::DoubleSeq goals) |
| void | setStartAndGoal (Ice::DoubleSeq starts, Ice::DoubleSeq goals) |
| void | setViaPoint (double u, Ice::DoubleSeq viapoint) |
| void | start (string mpName, Ice::DoubleSeq startVec, Ice::DoubleSeq goalVec, double durationSec) |
| void | startAll () |
| void | stop (string mpName) |
| void | stopAll () |
| void | trainMP () |
| void | updateMPConfig (armarx::aron::data::dto::Dict config) |
| config More... | |
Detailed Description
Definition at line 108 of file ControllerInterface.ice.
Operation Documentation
◆ getBiKACConfig()
| armarx::aron::data::dto::Dict getBiKACConfig | ( | ) |
◆ updateBiKACConfig()
| void updateBiKACConfig | ( | armarx::aron::data::dto::Dict | config | ) |
The documentation for this interface was generated from the following file:
- armarx/control/njoint_mp_controller/task_space/ControllerInterface.ice
