armarx::NJointTaskSpaceAdaptiveDMPControllerInterface

Overview

interface NJointTaskSpaceAdaptiveDMPControllerInterface extends NJointControllerInterface

Operation Index

learnDMPFromFiles

learnJointDMPFromFiles

isFinished

runDMP

runDMPWithTime

setViaPoints

setGoals

getVirtualTime

setCanVal

resetDMP

stopDMP

resumeDMP

setKdImpedance

setKpImpedance

setKpNull

setKdNull

getForce

getVelocityInMM

removeAllViaPoints

setUseNullSpaceJointDMP

setDefaultJointValues

Operations

void learnDMPFromFiles(::Ice::StringSeq trajfiles)

void learnJointDMPFromFiles(string jointTrajFile, ::Ice::FloatSeq currentJVS)

bool isFinished()

void runDMP(::Ice::DoubleSeq goals)

void runDMPWithTime(::Ice::DoubleSeq goals, double timeDuration)

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

void setGoals(::Ice::DoubleSeq goals)

double getVirtualTime()

void setCanVal(double canVal)

void resetDMP()

void stopDMP()

void resumeDMP()

void setKdImpedance(::Ice::FloatSeq dampings)

void setKpImpedance(::Ice::FloatSeq stiffness)

void setKpNull(::Ice::FloatSeq knull)

void setKdNull(::Ice::FloatSeq dnull)

::Ice::FloatSeq getForce()

::Ice::FloatSeq getVelocityInMM()

void removeAllViaPoints()

void setUseNullSpaceJointDMP(bool useJointDMP)

void setDefaultJointValues(::Ice::FloatSeq desiredJointVals)