armarx::NJointTaskSpaceImpedanceDMPControllerConfig

Overview

class NJointTaskSpaceImpedanceDMPControllerConfig extends NJointControllerConfig

Data Member Index

kernelSize

dmpMode

dmpType

timeDuration

nodeSetName

phaseL

phaseK

phaseDist0

phaseDist1

posToOriRatio

Kpos

Dpos

Kori

Dori

Knull

Dnull

useNullSpaceJointDMP

defaultNullSpaceJointValues

torqueLimit

forceSensorName

waitTimeForCalibration

forceFilter

forceDeadZone

forceThreshold

forceFrameName

Data Members

int kernelSize;

string dmpMode;

string dmpType;

double timeDuration;

string nodeSetName;

double phaseL;

double phaseK;

double phaseDist0;

double phaseDist1;

double posToOriRatio;

::Ice::FloatSeq Kpos;

::Ice::FloatSeq Dpos;

::Ice::FloatSeq Kori;

::Ice::FloatSeq Dori;

::Ice::FloatSeq Knull;

::Ice::FloatSeq Dnull;

bool useNullSpaceJointDMP;

::Ice::FloatSeq defaultNullSpaceJointValues;

float torqueLimit;

string forceSensorName;

float waitTimeForCalibration;

float forceFilter;

float forceDeadZone;

::Eigen::Vector3f forceThreshold;

string forceFrameName;