armarx::NJointPeriodicTSDMPControllerConfig

Overview

class NJointPeriodicTSDMPControllerConfig extends NJointControllerConfig

Data Member Index

kernelSize

dmpAmplitude

timeDuration

phaseL

phaseK

phaseDist0

phaseDist1

phaseKpPos

phaseKpOri

posToOriRatio

nodeSetName

maxLinearVel

maxAngularVel

maxJointVel

avoidJointLimitsKp

Kpos

Kori

forceSensorName

forceFrameName

forceFilter

waitTimeForCalibration

Kpf

minimumReactForce

Data Members

int kernelSize;

double dmpAmplitude;

double timeDuration;

double phaseL;

double phaseK;

double phaseDist0;

double phaseDist1;

double phaseKpPos;

double phaseKpOri;

double posToOriRatio;

string nodeSetName;

double maxLinearVel;

double maxAngularVel;

float maxJointVel;

float avoidJointLimitsKp;

float Kpos;

float Kori;

string forceSensorName;

string forceFrameName;

float forceFilter;

float waitTimeForCalibration;

float Kpf;

float minimumReactForce;