armarx::NJointBimanualCCDMPControllerConfig

Overview

class NJointBimanualCCDMPControllerConfig extends NJointControllerConfig

Data Member Index

kernelSize

dmpMode

dmpType

phaseL

phaseK

phaseDist0

phaseDist1

phaseKpPos

phaseKpOri

posToOriRatio

timeDuration

defautLeader

leftDesiredJointValues

rightDesiredJointValues

maxLinearVel

maxAngularVel

leftKpos

leftDpos

leftKori

leftDori

rightKpos

rightDpos

rightKori

rightDori

knull

dnull

torqueLimit

startReduceTorque

Data Members

int kernelSize;

string dmpMode;

string dmpType;

double phaseL;

double phaseK;

double phaseDist0;

double phaseDist1;

double phaseKpPos;

double phaseKpOri;

double posToOriRatio;

double timeDuration;

string defautLeader;

::Ice::FloatSeq leftDesiredJointValues;

::Ice::FloatSeq rightDesiredJointValues;

double maxLinearVel;

double maxAngularVel;

::Ice::FloatSeq leftKpos;

::Ice::FloatSeq leftDpos;

::Ice::FloatSeq leftKori;

::Ice::FloatSeq leftDori;

::Ice::FloatSeq rightKpos;

::Ice::FloatSeq rightDpos;

::Ice::FloatSeq rightKori;

::Ice::FloatSeq rightDori;

float knull;

float dnull;

float torqueLimit;

float startReduceTorque;