defined in <armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice>

class NJointPeriodicTSDMPCompliantControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointPeriodicTSDMPCompliantControllerConfig:

Data Members
float	adaptCoeff

float	adaptForceCoeff

float	changePositionTolerance

float	changeTimerThreshold

Ice::FloatSeq	desiredNullSpaceJointValues

double	dmpAmplitude = 1

float	Dnull

Ice::FloatSeq	Dori

Ice::FloatSeq	Dpos

float	dragForceDeadZone

float	forceDeadZone

float	forceFilter = 0.8

string	forceFrameName = "ArmR8_Wri2"

string	forceSensorName = "FT R"

bool	ignoreWSLimitChecks = false

bool	isManipulability = false

int	kernelSize = 100

Ice::DoubleSeq	kmani

float	Knull

Ice::FloatSeq	Kori

float	Kpf

Ice::FloatSeq	Kpos

Ice::DoubleSeq	maniWeight

float	maxAngularVel

float	maxJointTorque

float	maxLinearVel

float	minimumReactForce = 0

string	nodeSetName = ""

float	phaseDist0 = 50

float	phaseDist1 = 10

double	phaseK = 10

double	phaseKpOri = 0.1

double	phaseKpPos = 1

double	phaseL = 10

Ice::DoubleSeq	positionManipulability

double	posToOriRatio = 100

float	reactThreshold

double	timeDuration = 10

float	velFilter

float	waitTimeForCalibration = 0.1

Ice::FloatSeq	ws_x

Ice::FloatSeq	ws_y

Ice::FloatSeq	ws_z

Data Member Documentation

◆ adaptCoeff

float adaptCoeff

◆ adaptForceCoeff

float adaptForceCoeff

◆ changePositionTolerance

float changePositionTolerance

◆ changeTimerThreshold

float changeTimerThreshold

◆ desiredNullSpaceJointValues

Ice::FloatSeq desiredNullSpaceJointValues

◆ dmpAmplitude

double dmpAmplitude = 1

◆ Dnull

float Dnull

◆ Dori

Ice::FloatSeq Dori

◆ Dpos

Ice::FloatSeq Dpos

◆ dragForceDeadZone

float dragForceDeadZone

◆ forceDeadZone

float forceDeadZone

◆ forceFilter

float forceFilter = 0.8

◆ forceFrameName

string forceFrameName = "ArmR8_Wri2"

◆ forceSensorName

string forceSensorName = "FT R"

◆ ignoreWSLimitChecks

bool ignoreWSLimitChecks = false

◆ isManipulability

bool isManipulability = false

◆ kernelSize

int kernelSize = 100

◆ kmani

Ice::DoubleSeq kmani

◆ Knull

float Knull

◆ Kori

Ice::FloatSeq Kori

◆ Kpf

float Kpf

◆ Kpos

Ice::FloatSeq Kpos

◆ maniWeight

Ice::DoubleSeq maniWeight

◆ maxAngularVel

float maxAngularVel

◆ maxJointTorque

float maxJointTorque

◆ maxLinearVel

float maxLinearVel

◆ minimumReactForce

float minimumReactForce = 0

◆ nodeSetName

string nodeSetName = ""

◆ phaseDist0

float phaseDist0 = 50

◆ phaseDist1

float phaseDist1 = 10

◆ phaseK

double phaseK = 10

◆ phaseKpOri

double phaseKpOri = 0.1

◆ phaseKpPos

double phaseKpPos = 1

◆ phaseL

double phaseL = 10

◆ positionManipulability

Ice::DoubleSeq positionManipulability

◆ posToOriRatio

double posToOriRatio = 100

◆ reactThreshold

float reactThreshold

◆ timeDuration

double timeDuration = 10

◆ velFilter

float velFilter

◆ waitTimeForCalibration

float waitTimeForCalibration = 0.1

◆ ws_x

Ice::FloatSeq ws_x

◆ ws_y

Ice::FloatSeq ws_y

◆ ws_z

Ice::FloatSeq ws_z

The documentation for this class was generated from the following file:

armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice

Data Members