defined in <armarx/control/ds_controller/DSControllerInterface.ice>

class DSRTBimanualControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for DSRTBimanualControllerConfig:

Data Members
float	contactDistanceTolerance

float	contactForce

float	couplingForceLimit = 50

float	couplingStiffness = 10

float	desiredTorqueDisturbance

float	filterTimeConstant = 0.01

float	forceErrorZDisturbance

float	forceErrorZGain

float	forceErrorZThreshold

float	forceFilterCoeff

Ice::FloatSeq	forceLeftOffset

Ice::FloatSeq	forceRightOffset

float	forwardGain = 1

string	gmmParamsFile = ""

bool	guardDesiredDirection

float	guardTargetZDown

float	guardTargetZUp

float	highPassFilterFactor

Ice::FloatSeq	left_desiredQuaternion

Ice::FloatSeq	left_oriDown

Ice::FloatSeq	left_oriUp

Ice::FloatSeq	leftarm_qnullspaceVec

float	leftForceOffsetZ

float	liftingForce

float	loweringForce

float	mountingCorrectionFilterFactor

float	mountingDistanceTolerance

float	nullspaceDamping

float	nullspaceKp

float	NullTorqueLimit = 0.2

float	oriDamping

float	oriKp

Ice::FloatSeq	posiDamping

float	posiKp = 5

float	positionErrorTolerance

Ice::FloatSeq	right_desiredQuaternion

Ice::FloatSeq	right_oriDown

Ice::FloatSeq	right_oriUp

Ice::FloatSeq	rightarm_qnullspaceVec

float	rightForceOffsetZ

float	TorqueFilterConstant

float	torqueLimit = 1

float	v_max = 0.15

Data Member Documentation

◆ contactDistanceTolerance

float contactDistanceTolerance

◆ contactForce

float contactForce

◆ couplingForceLimit

float couplingForceLimit = 50

◆ couplingStiffness

float couplingStiffness = 10

◆ desiredTorqueDisturbance

float desiredTorqueDisturbance

◆ filterTimeConstant

float filterTimeConstant = 0.01

◆ forceErrorZDisturbance

float forceErrorZDisturbance

◆ forceErrorZGain

float forceErrorZGain

◆ forceErrorZThreshold

float forceErrorZThreshold

◆ forceFilterCoeff

float forceFilterCoeff

◆ forceLeftOffset

Ice::FloatSeq forceLeftOffset

◆ forceRightOffset

Ice::FloatSeq forceRightOffset

◆ forwardGain

float forwardGain = 1

◆ gmmParamsFile

string gmmParamsFile = ""

◆ guardDesiredDirection

bool guardDesiredDirection

◆ guardTargetZDown

float guardTargetZDown

◆ guardTargetZUp

float guardTargetZUp

◆ highPassFilterFactor

float highPassFilterFactor

◆ left_desiredQuaternion

Ice::FloatSeq left_desiredQuaternion

◆ left_oriDown

Ice::FloatSeq left_oriDown

◆ left_oriUp

Ice::FloatSeq left_oriUp

◆ leftarm_qnullspaceVec

Ice::FloatSeq leftarm_qnullspaceVec

◆ leftForceOffsetZ

float leftForceOffsetZ

◆ liftingForce

float liftingForce

◆ loweringForce

float loweringForce

◆ mountingCorrectionFilterFactor

float mountingCorrectionFilterFactor

◆ mountingDistanceTolerance

float mountingDistanceTolerance

◆ nullspaceDamping

float nullspaceDamping

◆ nullspaceKp

float nullspaceKp

◆ NullTorqueLimit

float NullTorqueLimit = 0.2

◆ oriDamping

float oriDamping

◆ oriKp

float oriKp

◆ posiDamping

Ice::FloatSeq posiDamping

◆ posiKp

float posiKp = 5

◆ positionErrorTolerance

float positionErrorTolerance

◆ right_desiredQuaternion

Ice::FloatSeq right_desiredQuaternion

◆ right_oriDown

Ice::FloatSeq right_oriDown

◆ right_oriUp

Ice::FloatSeq right_oriUp

◆ rightarm_qnullspaceVec

Ice::FloatSeq rightarm_qnullspaceVec

◆ rightForceOffsetZ

float rightForceOffsetZ

◆ TorqueFilterConstant

float TorqueFilterConstant

◆ torqueLimit

float torqueLimit = 1

◆ v_max

float v_max = 0.15

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

armarx/control/ds_controller/DSControllerInterface.ice

Data Members