armarx::NJointBimanualObjLevelControllerInterface

Overview

interface NJointBimanualObjLevelControllerInterface extends NJointControllerInterface

Operation Index

learnDMPFromFiles

isFinished

runDMP

runDMPWithVirtualStart

setGoals

setViaPoints

removeAllViaPoints

getVirtualTime

setKpImpedance

setKdImpedance

setKmAdmittance

setKpAdmittance

setKdAdmittance

getCurrentObjVel

getCurrentObjForce

setMPWeights

getMPWeights

setMPRotWeights

getMPRotWeights

Operations

void learnDMPFromFiles(::Ice::StringSeq trajfiles)

bool isFinished()

void runDMP(::Ice::DoubleSeq goals, double timeDuration)

void runDMPWithVirtualStart(::Ice::DoubleSeq starts, ::Ice::DoubleSeq goals, double timeDuration)

void setGoals(::Ice::DoubleSeq goals)

void setViaPoints(double u, ::Ice::DoubleSeq viapoint)

void removeAllViaPoints()

double getVirtualTime()

void setKpImpedance(::Ice::FloatSeq value)

void setKdImpedance(::Ice::FloatSeq value)

void setKmAdmittance(::Ice::FloatSeq value)

void setKpAdmittance(::Ice::FloatSeq value)

void setKdAdmittance(::Ice::FloatSeq value)

::Ice::FloatSeq getCurrentObjVel()

::Ice::FloatSeq getCurrentObjForce()

void setMPWeights(DoubleSeqSeq weights)

DoubleSeqSeq getMPWeights()

void setMPRotWeights(DoubleSeqSeq weights)

DoubleSeqSeq getMPRotWeights()