armarx::NJointPeriodicTSDMPCompliantControllerConfig

Overview

class NJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig

Data Member Index

Data Members

int kernelSize;

double dmpAmplitude;

double timeDuration;

double phaseL;

double phaseK;

float phaseDist0;

float phaseDist1;

double phaseKpPos;

double phaseKpOri;

double posToOriRatio;

string nodeSetName;

float maxJointTorque;

::Ice::FloatSeq Kpos;

::Ice::FloatSeq Dpos;

::Ice::FloatSeq Kori;

::Ice::FloatSeq Dori;

::Ice::FloatSeq desiredNullSpaceJointValues;

float Knull;

float Dnull;

string forceSensorName;

string forceFrameName;

float forceFilter;

float waitTimeForCalibration;

float Kpf;

float minimumReactForce;

float forceDeadZone;

float velFilter;

float maxLinearVel;

float maxAngularVel;

::Ice::FloatSeq ws_x;

::Ice::FloatSeq ws_y;

::Ice::FloatSeq ws_z;

bool ignoreWSLimitChecks;

float adaptCoeff;

float reactThreshold;

float dragForceDeadZone;

float adaptForceCoeff;

float changePositionTolerance;

float changeTimerThreshold;

bool isManipulability;

::Ice::DoubleSeq kmani;

::Ice::DoubleSeq positionManipulability;

::Ice::DoubleSeq maniWeight;