armarx::NJointTaskSpaceImpedanceDMPControllerInterface
Overview
interface NJointTaskSpaceImpedanceDMPControllerInterface extends NJointControllerInterface
Operation Index
- learnDMPFromFiles
-
- learnJointDMPFromFiles
-
- setUseNullSpaceJointDMP
-
- isFinished
-
- isDMPRunning
-
- runDMP
-
- runDMPWithTime
-
- setViaPoints
-
- setGoals
-
- setDefaultNullSpaceJointValues
-
- getVirtualTime
-
- resetDMP
-
- stopDMP
-
- resumeDMP
-
- removeAllViaPoints
-
- setMPWeights
-
- getMPWeights
-
- setLinearVelocityKd
-
- setLinearVelocityKp
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- setAngularVelocityKd
-
- setAngularVelocityKp
-
- setNullspaceVelocityKd
-
- setNullspaceVelocityKp
-
- enableForceStop
-
- disableForceStop
-
- setForceThreshold
-
Operations
void learnDMPFromFiles(::Ice::StringSeq trajfiles)
void learnJointDMPFromFiles(string jointTrajFile, ::Ice::FloatSeq currentJVS)
void setUseNullSpaceJointDMP(bool enable)
bool isFinished()
bool isDMPRunning()
void runDMP(::Ice::DoubleSeq goals)
void runDMPWithTime(::Ice::DoubleSeq goals, double timeDuration)
void setViaPoints(double canVal, ::Ice::DoubleSeq point)
void setGoals(::Ice::DoubleSeq goals)
void setDefaultNullSpaceJointValues(::Eigen::VectorXf jointValues)
double getVirtualTime()
void resetDMP()
void stopDMP()
void resumeDMP()
void removeAllViaPoints()
void setMPWeights(DoubleSeqSeq weights)
void setNullspaceVelocityKd(::Eigen::VectorXf jointValues)
void setNullspaceVelocityKp(::Eigen::VectorXf jointValues)
void enableForceStop()
void disableForceStop()
void setForceThreshold(::Eigen::Vector3f forceThreshold)