armarx::NJointBimanualObjLevelMultiMPControllerInterface

Overview

interface NJointBimanualObjLevelMultiMPControllerInterface extends NJointControllerInterface

Operation Index

learnDMPFromFiles

learnMultiDMPFromFiles

isFinished

runDMP

runDMPWithVirtualStart

setGoals

setMultiMPGoals

setViaPoints

removeAllViaPoints

getVirtualTime

setKpImpedance

setKdImpedance

setKmAdmittance

setKpAdmittance

setKdAdmittance

setAmplitude

getCurrentObjVel

getCurrentObjForce

Operations

void learnDMPFromFiles(::Ice::StringSeq trajfiles)

void learnMultiDMPFromFiles(::Ice::StringSeq objFileNames, ::Ice::StringSeq leftFileNames, ::Ice::StringSeq rightFileNames)

bool isFinished()

void runDMP(::Ice::DoubleSeq goalObj, ::Ice::DoubleSeq goalLeft, ::Ice::DoubleSeq goalRight, double timeDuration)

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

void setGoals(::Ice::DoubleSeq goals)

void setMultiMPGoals(::Ice::DoubleSeq goalObj, ::Ice::DoubleSeq goalLeft, ::Ice::DoubleSeq goalRight)

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)

void setAmplitude(double amp)

::Ice::FloatSeq getCurrentObjVel()

::Ice::FloatSeq getCurrentObjForce()