armarx::NJointCartesianNaturalPositionControllerInterface

Overview

interface NJointCartesianNaturalPositionControllerInterface extends NJointControllerInterface

Operation Index

setConfig

setTarget

setTargetFeedForward

setFeedForwardVelocity

clearFeedForwardVelocity

setNullspaceTarget

clearNullspaceTarget

setNullspaceControlEnabled

getCurrentFTValue

getAverageFTValue

resetFTOffset

setFTOffset

setFTLimit

clearFTLimit

setFakeFTValue

clearFakeFTValue

isAtForceLimit

stopMovement

setVisualizationRobotGlobalPose

resetVisualizationRobotGlobalPose

Operations

void setConfig(CartesianNaturalPositionControllerConfig cfg)

void setTarget(::Eigen::Matrix4f tcpTarget, ::Eigen::Vector3f elbowTarget, bool setOrientation)

void setTargetFeedForward(::Eigen::Matrix4f tcpTarget, ::Eigen::Vector3f elbowTarget, bool setOrientation, ::Eigen::Vector6f ffVel)

void setFeedForwardVelocity(::Eigen::Vector6f vel)

void clearFeedForwardVelocity()

void setNullspaceTarget(::Ice::FloatSeq nullspaceTarget)

void clearNullspaceTarget()

void setNullspaceControlEnabled(bool enabled)

FTSensorValue getCurrentFTValue()

FTSensorValue getAverageFTValue()

void resetFTOffset()

void setFTOffset(FTSensorValue offset)

void setFTLimit(float force, float torque)

void clearFTLimit()

void setFakeFTValue(FTSensorValue ftValue)

void clearFakeFTValue()

bool isAtForceLimit()

void stopMovement()

void setVisualizationRobotGlobalPose(::Eigen::Matrix4f p)

void resetVisualizationRobotGlobalPose()