armarx::DSJointCarryControllerConfig

Overview

class DSJointCarryControllerConfig extends NJointControllerConfig

Data Member Index

posiKp

v_max

posiDamping

oriDamping

oriKp

filterTimeConstant

torqueLimit

NullTorqueLimit

left_desiredQuaternion

right_desiredQuaternion

leftarm_qnullspaceVec

rightarm_qnullspaceVec

nullspaceKp

nullspaceDamping

gmmParamsFile

positionErrorTolerance

desiredTorqueDisturbance

TorqueFilterConstant

guardLength

guardGravity

defaultGuardOri

handVelLimit

defaultRotationStiffness

Data Members

float posiKp;

float v_max;

::Ice::FloatSeq posiDamping;

float oriDamping;

float oriKp;

float filterTimeConstant;

float torqueLimit;

float NullTorqueLimit;

::Ice::FloatSeq left_desiredQuaternion;

::Ice::FloatSeq right_desiredQuaternion;

::Ice::FloatSeq leftarm_qnullspaceVec;

::Ice::FloatSeq rightarm_qnullspaceVec;

float nullspaceKp;

float nullspaceDamping;

string gmmParamsFile;

float positionErrorTolerance;

float desiredTorqueDisturbance;

float TorqueFilterConstant;

float guardLength;

float guardGravity;

::Ice::FloatSeq defaultGuardOri;

float handVelLimit;

::Ice::FloatSeq defaultRotationStiffness;