NJointTaskspaceAdmittanceControllerInterface Interface Reference

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

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

Inheritance diagram for NJointTaskspaceAdmittanceControllerInterface:

Operations
void	calibrateFTSensor ()
void	enableSafeGuardForceTorque (string rns, bool forceGuard, bool torqueGuard)
Ice::FloatSeq	getTCPVel (string rns)
bool	isSafeForceTorque (string nodeSetName)
void	toggleGravityCompensation (bool toggle)
	ft sensor More...
bool	updateTargetPose (TargetPoseMap targetPoseMap, TargetNullspaceMap targetNullspaceMap)

Detailed Description

Definition at line 111 of file ControllerInterface.ice.

Operation Documentation

calibrateFTSensor()

void calibrateFTSensor

(

)

enableSafeGuardForceTorque()

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

getTCPVel()

Ice::FloatSeq getTCPVel

(

string

rns

)

isSafeForceTorque()

bool isSafeForceTorque

(

string

nodeSetName

)

toggleGravityCompensation()

void toggleGravityCompensation

(

bool

toggle

)

ft sensor

updateTargetPose()

bool updateTargetPose	(	TargetPoseMap	targetPoseMap,
		TargetNullspaceMap	targetNullspaceMap
	)

---

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

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