armarx::NJointTaskSpaceImpedanceControlInterface

Overview

interface NJointTaskSpaceImpedanceControlInterface extends NJointControllerInterface

Operation Index

setPosition

setOrientation

setPositionOrientation

setPose

setImpedanceParameters

setNullspaceConfig

setConfig

Operations

void setPosition(::Eigen::Vector3f target)

void setOrientation(::Eigen::Quaternionf orientation)

void setPositionOrientation(::Eigen::Vector3f target, ::Eigen::Quaternionf orientation)

void setPose(::Eigen::Matrix4f mat)

void setImpedanceParameters(string paraName, ::Ice::FloatSeq vals)

void setNullspaceConfig(::Eigen::VectorXf desiredJointPositions, ::Eigen::VectorXf Knull, ::Eigen::VectorXf Dnull)

void setConfig(NJointTaskSpaceImpedanceControlRuntimeConfig cfg)