NJointPeriodicTSDMPControllerConfig Class Reference

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

class NJointPeriodicTSDMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointPeriodicTSDMPControllerConfig:

Data Members
float	avoidJointLimitsKp = 1
double	dmpAmplitude = 1
float	forceFilter = 0.8
string	forceFrameName = "ArmR8_Wri2"
string	forceSensorName = "FT R"
int	kernelSize = 100
float	Kori
float	Kpf
float	Kpos
double	maxAngularVel
float	maxJointVel
double	maxLinearVel
float	minimumReactForce = 0
string	nodeSetName = ""
double	phaseDist0 = 50
double	phaseDist1 = 10
double	phaseK = 10
double	phaseKpOri = 0.1
double	phaseKpPos = 1
double	phaseL = 10
double	posToOriRatio = 100
double	timeDuration = 10
float	waitTimeForCalibration = 0.1

Data Member Documentation

avoidJointLimitsKp

float avoidJointLimitsKp = 1

dmpAmplitude

double dmpAmplitude = 1

forceFilter

float forceFilter = 0.8

forceFrameName

string forceFrameName = "ArmR8_Wri2"

forceSensorName

string forceSensorName = "FT R"

kernelSize

int kernelSize = 100

Kori

float Kori

Kpf

float Kpf

Kpos

float Kpos

maxAngularVel

double maxAngularVel

maxJointVel

float maxJointVel

maxLinearVel

double maxLinearVel

minimumReactForce

float minimumReactForce = 0

nodeSetName

string nodeSetName = ""

phaseDist0

double phaseDist0 = 50

phaseDist1

double phaseDist1 = 10

phaseK

double phaseK = 10

phaseKpOri

double phaseKpOri = 0.1

phaseKpPos

double phaseKpPos = 1

phaseL

double phaseL = 10

posToOriRatio

double posToOriRatio = 100

timeDuration

double timeDuration = 10

waitTimeForCalibration

float waitTimeForCalibration = 0.1

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

• armarx/control/deprecated_njoint_mp_controller/task_space/ControllerInterface.ice