NJointAdaptiveWipingControllerConfig Class Reference
defined in <armarx/control/deprecated_njoint_mp_controller/adaptive/ControllerInterface.ice>
class NJointAdaptiveWipingControllerConfig extends NJointControllerConfig { ... }
Inheritance diagram for NJointAdaptiveWipingControllerConfig:Data Members | |
| float | adaptCoeff |
| float | adaptForceCoeff |
| float | angularKp |
| float | changePositionTolerance |
| float | changeTimerThreshold |
| Ice::FloatSeq | desiredNullSpaceJointValues |
| double | dmpAmplitude = 1 |
| Ice::FloatSeq | Dnull |
| Ice::FloatSeq | Dori |
| Ice::FloatSeq | Dpos |
| float | dragForceDeadZone |
| float | forceDeadZone |
| float | forceFilter = 0.8 |
| string | forceFrameName = "ArmR8_Wri2" |
| string | forceSensorName = "FT R" |
| float | frictionCone |
| Ice::FloatSeq | ftOffset |
| Ice::FloatSeq | handCOM |
| float | handMass |
| int | kernelSize = 100 |
| Ice::FloatSeq | Knull |
| Ice::FloatSeq | Kori |
| float | Kpf |
| Ice::FloatSeq | Kpos |
| 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 |
| 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 |
◆ angularKp
| float angularKp |
◆ changePositionTolerance
| float changePositionTolerance |
◆ changeTimerThreshold
| float changeTimerThreshold |
◆ desiredNullSpaceJointValues
| Ice::FloatSeq desiredNullSpaceJointValues |
◆ dmpAmplitude
| double dmpAmplitude = 1 |
◆ Dnull
| Ice::FloatSeq 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" |
◆ frictionCone
| float frictionCone |
◆ ftOffset
| Ice::FloatSeq ftOffset |
◆ handCOM
| Ice::FloatSeq handCOM |
◆ handMass
| float handMass |
◆ kernelSize
| int kernelSize = 100 |
◆ Knull
| Ice::FloatSeq Knull |
◆ Kori
| Ice::FloatSeq Kori |
◆ Kpf
| float Kpf |
◆ Kpos
| Ice::FloatSeq Kpos |
◆ 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 |
◆ 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/adaptive/ControllerInterface.ice
