armarx::NJointTaskSpaceDMPControllerInterface

Overview

interface NJointTaskSpaceDMPControllerInterface extends NJointControllerInterface

Operation Index

learnDMPFromFiles

isFinished

runDMP

runDMPWithTime

setSpeed

setViaPoints

removeAllViaPoints

setGoals

getCanVal

resetDMP

stopDMP

pauseDMP

resumeDMP

setControllerTarget

setTorqueKp

setNullspaceJointVelocities

getDMPAsString

createDMPFromString

setMPWeights

getMPWeights

setLinearVelocityKd

setLinearVelocityKp

setAngularVelocityKd

setAngularVelocityKp

Operations

void learnDMPFromFiles(::Ice::StringSeq trajfiles)

bool isFinished()

void runDMP(::Ice::DoubleSeq goals, double tau)

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

void setSpeed(double times)

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

void removeAllViaPoints()

void setGoals(::Ice::DoubleSeq goals)

double getCanVal()

void resetDMP()

void stopDMP()

void pauseDMP()

void resumeDMP()

void setControllerTarget(float avoidJointLimitsKp, NJointTaskSpaceDMPControllerMode::CartesianSelection mode)

void setTorqueKp(StringFloatDictionary torqueKp)

void setNullspaceJointVelocities(StringFloatDictionary nullspaceJointVelocities)

string getDMPAsString()

::Ice::DoubleSeq createDMPFromString(string dmpString)

void setMPWeights(DoubleSeqSeq weights)

DoubleSeqSeq getMPWeights()

void setLinearVelocityKd(float kd)

void setLinearVelocityKp(float kp)

void setAngularVelocityKd(float kd)

void setAngularVelocityKp(float kp)