armarx::NJointTaskSpaceDMPControllerConfig

Overview

class NJointTaskSpaceDMPControllerConfig extends NJointControllerConfig

Data Member Index

DMPKd

kernelSize

tau

dmpMode

dmpStyle

dmpAmplitude

phaseL

phaseK

phaseDist0

phaseDist1

phaseKpPos

phaseKpOri

timeDuration

posToOriRatio

nodeSetName

tcpName

frameName

mode

maxLinearVel

maxAngularVel

maxJointVelocity

debugName

Kp_LinearVel

Kd_LinearVel

Kp_AngularVel

Kd_AngularVel

pos_filter

vel_filter

Data Members

float DMPKd;

int kernelSize;

double tau;

string dmpMode;

string dmpStyle;

double dmpAmplitude;

double phaseL;

double phaseK;

double phaseDist0;

double phaseDist1;

double phaseKpPos;

double phaseKpOri;

double timeDuration;

double posToOriRatio;

string nodeSetName;

string tcpName;

string frameName;

NJointTaskSpaceDMPControllerMode::CartesianSelection mode;

double maxLinearVel;

double maxAngularVel;

double maxJointVelocity;

string debugName;

float Kp_LinearVel;

float Kd_LinearVel;

float Kp_AngularVel;

float Kd_AngularVel;

float pos_filter;

float vel_filter;