armarx::CartesianWaypointControllerConfig
Overview
struct CartesianWaypointControllerConfig
Used By
- NJointCartesianWaypointControllerRuntimeConfig::wpCfg
Data Member Index
- maxPositionAcceleration
-
- maxOrientationAcceleration
-
- maxNullspaceAcceleration
-
- kpJointLimitAvoidance
-
- jointLimitAvoidanceScale
-
- thresholdOrientationNear
-
- thresholdOrientationReached
-
- thresholdPositionNear
-
- thresholdPositionReached
-
- maxOriVel
-
- maxPosVel
-
- kpOri
-
- kpPos
-
Data Members
- float maxPositionAcceleration;
- float maxOrientationAcceleration;
- float maxNullspaceAcceleration;
- float kpJointLimitAvoidance;
- float jointLimitAvoidanceScale;
- float thresholdOrientationNear;
- float thresholdOrientationReached;
- float thresholdPositionNear;
- float thresholdPositionReached;
- float maxOriVel;
- float maxPosVel;
- float kpOri;
- float kpPos;