armarx::NJointBimanualCartesianAdmittanceControllerInterface

Overview

interface NJointBimanualCartesianAdmittanceControllerInterface extends NJointControllerInterface

Operation Index

setConfig

setDesiredJointValuesLeft

setDesiredJointValuesRight

setNullspaceConfig

setAdmittanceConfig

setForceConfig

setImpedanceConfig

getBoxPose

setBoxPose

setBoxWidth

setBoxVelocity

setBoxPoseAndVelocity

moveBoxPose

moveBoxPosition

Operations

void setConfig(NJointBimanualCartesianAdmittanceControllerConfig cfg)

void setDesiredJointValuesLeft(::Ice::FloatSeq cfg)

void setDesiredJointValuesRight(::Ice::FloatSeq cfg)

void setNullspaceConfig(detail::NJBmanCartAdmCtrl::Nullspace nullspace)

void setAdmittanceConfig(detail::NJBmanCartAdmCtrl::Admittance admittanceObject)

void setForceConfig(detail::NJBmanCartAdmCtrl::Force left, detail::NJBmanCartAdmCtrl::Force right)

void setImpedanceConfig(detail::NJBmanCartAdmCtrl::Impedance left, detail::NJBmanCartAdmCtrl::Impedance right)

::Eigen::Matrix4f getBoxPose()

void setBoxPose(::Eigen::Matrix4f pose)

void setBoxWidth(float w)

void setBoxVelocity(::Eigen::Vector3f velXYZ, ::Eigen::Vector3f velRPY)

void setBoxPoseAndVelocity(::Eigen::Matrix4f pose, ::Eigen::Vector3f velXYZ, ::Eigen::Vector3f velRPY)

void moveBoxPose(::Eigen::Matrix4f pose)

void moveBoxPosition(::Eigen::Vector3f pos)