armarx::NJointAnomalyDetectionAdaptiveWipingControllerConfig

Overview

class NJointAnomalyDetectionAdaptiveWipingControllerConfig extends NJointControllerConfig

Data Member Index

Data Members

int kernelSize;

double dmpAmplitude;

double timeDuration;

double phaseL;

double phaseK;

float phaseDist0;

float phaseDist1;

double phaseKpPos;

double phaseKpOri;

double posToOriRatio;

string nodeSetName;

float maxJointTorque;

::Ice::FloatSeq desiredNullSpaceJointValues;

::Ice::FloatSeq Kpos;

::Ice::FloatSeq Dpos;

::Ice::FloatSeq Kori;

::Ice::FloatSeq Dori;

::Ice::FloatSeq Knull;

::Ice::FloatSeq Dnull;

string forceSensorName;

string forceFrameName;

float forceFilter;

float waitTimeForCalibration;

int velocityHorizon;

int frictionHorizon;

bool isForceCtrlInForceDir;

bool isForceControlEnabled;

bool isRotControlEnabled;

bool isTorqueControlEnabled;

bool isLCRControlEnabled;

::Ice::FloatSeq pidForce;

::Ice::FloatSeq pidRot;

::Ice::FloatSeq pidTorque;

::Ice::FloatSeq pidLCR;

float minimumReactForce;

float forceDeadZone;

float velFilter;

float maxLinearVel;

float maxAngularVel;

::Ice::FloatSeq ws_x;

::Ice::FloatSeq ws_y;

::Ice::FloatSeq ws_z;

float adaptCoeff;

float reactThreshold;

float dragForceDeadZone;

float adaptForceCoeff;

float changePositionTolerance;

float changeTimerThreshold;

::Ice::FloatSeq ftOffset;

::Ice::FloatSeq handCOM;

float handMass;

float ftCommandFilter;

float frictionCone;

float fricEstiFilter;

float velNormThreshold;

float maxInteractionForce;

float increaseKpForceCoeff;

float increaseKpRotCoeff;

float decreaseKpForceCoeff;

float decreaseKpRotCoeff;

float adaptRateIncrease;

float adaptRateDecrease;

float adaptRateDecreaseRot;

float adaptCoeffKdImpIncrease;

float increaseKpOriCoeff;

float increaseKdOriCoeff;

float increaseKpNullCoeff;

float increaseKdNullCoeff;

bool isAdaptOriImpEnabled;

float loseContactForceIntThreshold;

bool loseContactDetectionEnabled;

int loseContactCounterMax;

float rotAngleSigmoid;

bool useDMPInGlobalFrame;