armarx::DSRTBimanualControllerConfig

Overview

class DSRTBimanualControllerConfig extends NJointControllerConfig

Data Member Index

Data Members

float posiKp;

float v_max;

::Ice::FloatSeq posiDamping;

float couplingStiffness;

float couplingForceLimit;

float forwardGain;

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 contactForce;

float guardTargetZUp;

float guardTargetZDown;

float loweringForce;

float liftingForce;

bool guardDesiredDirection;

float highPassFilterFactor;

::Ice::FloatSeq left_oriUp;

::Ice::FloatSeq left_oriDown;

::Ice::FloatSeq right_oriUp;

::Ice::FloatSeq right_oriDown;

float forceFilterCoeff;

float forceErrorZDisturbance;

float forceErrorZThreshold;

float forceErrorZGain;

float desiredTorqueDisturbance;

float TorqueFilterConstant;

float leftForceOffsetZ;

float rightForceOffsetZ;

float contactDistanceTolerance;

float mountingDistanceTolerance;

float mountingCorrectionFilterFactor;

::Ice::FloatSeq forceLeftOffset;

::Ice::FloatSeq forceRightOffset;