armarx::NJointCartesianWaypointControllerInterface

Overview

interface NJointCartesianWaypointControllerInterface extends NJointControllerInterface

Operation Index

hasReachedTarget

hasReachedForceLimit

getCurrentWaypointIndex

setConfig

setWaypoints

setWaypoint

setWaypointAx

setConfigAndWaypoints

setConfigAndWaypoint

getFTSensorValue

setCurrentFTAsOffset

stopMovement

setVisualizationRobotGlobalPose

resetVisualizationRobotGlobalPose

Operations

bool hasReachedTarget()

bool hasReachedForceLimit()

int getCurrentWaypointIndex()

void setConfig(NJointCartesianWaypointControllerRuntimeConfig cfg)

void setWaypoints(::Eigen::Matrix4fSeq wps)

void setWaypoint(::Eigen::Matrix4f wp)

void setWaypointAx(::Ice::FloatSeq wp)

void setConfigAndWaypoints(NJointCartesianWaypointControllerRuntimeConfig cfg, ::Eigen::Matrix4fSeq wps)

void setConfigAndWaypoint(NJointCartesianWaypointControllerRuntimeConfig cfg, ::Eigen::Matrix4f wp)

FTSensorValue getFTSensorValue()

void setCurrentFTAsOffset()

void stopMovement()

void setVisualizationRobotGlobalPose(::Eigen::Matrix4f p)

void resetVisualizationRobotGlobalPose()