armarx::NJointBimanualForceMPControllerConfig

Overview

class NJointBimanualForceMPControllerConfig extends NJointControllerConfig

Data Member Index

kernelSize

dmpMode

dmpStyle

dmpAmplitude

phaseL

phaseK

phaseDist0

phaseDist1

phaseKpPos

phaseKpOri

timeDuration

posToOriRatio

maxLinearVel

maxAngularVel

Kp_LinearVel

Kd_LinearVel

Kp_AngularVel

Kd_AngularVel

forceP

forceI

forceD

filterCoeff

KpJointLimitAvoidanceScale

targetSupportForce

leftForceOffset

rightForceOffset

debugName

Data Members

int kernelSize;

string dmpMode;

string dmpStyle;

double dmpAmplitude;

double phaseL;

double phaseK;

double phaseDist0;

double phaseDist1;

double phaseKpPos;

double phaseKpOri;

double timeDuration;

double posToOriRatio;

double maxLinearVel;

double maxAngularVel;

float Kp_LinearVel;

float Kd_LinearVel;

float Kp_AngularVel;

float Kd_AngularVel;

float forceP;

float forceI;

float forceD;

float filterCoeff;

float KpJointLimitAvoidanceScale;

float targetSupportForce;

::Ice::FloatSeq leftForceOffset;

::Ice::FloatSeq rightForceOffset;

string debugName;