armarx::NJointBimanualObjLevelMultiMPControllerConfig

Overview

class NJointBimanualObjLevelMultiMPControllerConfig extends NJointControllerConfig

Data Member Index

Data Members

int kernelSize;

string dmpMode;

string dmpObjType;

string dmpLeftType;

string dmpRightType;

float dmpAmplitude;

double phaseL;

double phaseK;

double phaseDist0;

double phaseDist1;

double phaseKpPos;

double phaseKpOri;

double posToOriRatio;

double timeDuration;

::Ice::DoubleSeq objInitialPose;

::Ice::FloatSeq leftDesiredJointValues;

::Ice::FloatSeq rightDesiredJointValues;

::Ice::FloatSeq KpImpedance;

::Ice::FloatSeq KdImpedance;

::Ice::FloatSeq KpAdmittance;

::Ice::FloatSeq KdAdmittance;

::Ice::FloatSeq KmAdmittance;

::Ice::FloatSeq KmPID;

::Ice::FloatSeq targetWrench;

::Ice::FloatSeq forceP;

::Ice::FloatSeq forceI;

::Ice::FloatSeq forceD;

::Ice::FloatSeq forcePIDLimits;

float filterCoeff;

float massLeft;

::Ice::FloatSeq CoMVecLeft;

::Ice::FloatSeq forceOffsetLeft;

::Ice::FloatSeq torqueOffsetLeft;

float massRight;

::Ice::FloatSeq CoMVecRight;

::Ice::FloatSeq forceOffsetRight;

::Ice::FloatSeq torqueOffsetRight;

float knull;

float dnull;

float torqueLimit;

::Ice::FloatSeq forceThreshold;

double ftCalibrationTime;