armarx::NJointCCDMPControllerInterface

Overview

interface NJointCCDMPControllerInterface extends NJointControllerInterface

Operation Index

learnDMPFromFiles

isFinished

runDMP

setTemporalFactor

setViaPoints

setGoals

setControllerTarget

setTorqueKp

setNullspaceJointVelocities

Operations

void learnDMPFromFiles(int dmpId, ::Ice::StringSeq trajfiles)

bool isFinished()

void runDMP()

void setTemporalFactor(int dmpId, double tau)

void setViaPoints(int dmpId, double canVal, ::Ice::DoubleSeq point)

void setGoals(int dmpId, ::Ice::DoubleSeq goals)

void setControllerTarget(float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode)

void setTorqueKp(StringFloatDictionary torqueKp)

void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities)