armarx::DSControllerConfig

Overview

class DSControllerConfig extends NJointControllerConfig

Data Member Index

posiKp

v_max

posiDamping

oriDamping

oriKp

filterTimeConstant

torqueLimit

nodeSetName

tcpName

desiredPosition

desiredQuaternion

qnullspaceVec

nullspaceKp

nullspaceDamping

gmmParamsFiles

positionErrorTolerance

dsAdaptorEpsilon

Data Members

float posiKp;

float v_max;

float posiDamping;

float oriDamping;

float oriKp;

float filterTimeConstant;

float torqueLimit;

string nodeSetName;

string tcpName;

::Ice::FloatSeq desiredPosition;

::Ice::FloatSeq desiredQuaternion;

::Ice::FloatSeq qnullspaceVec;

float nullspaceKp;

float nullspaceDamping;

::Ice::StringSeq gmmParamsFiles;

float positionErrorTolerance;

float dsAdaptorEpsilon;