NJointTaskSpaceDMPControllerConfig Class Reference

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

class NJointTaskSpaceDMPControllerConfig extends NJointControllerConfig { ... }

Inheritance diagram for NJointTaskSpaceDMPControllerConfig:

Data Members
string	debugName
double	dmpAmplitude = 1
float	DMPKd = 20
string	dmpMode = "MinimumJerk"
string	dmpStyle = "Discrete"
string	frameName = ""
float	Kd_AngularVel
float	Kd_LinearVel
int	kernelSize = 100
float	Kp_AngularVel
float	Kp_LinearVel
double	maxAngularVel
double	maxJointVelocity
double	maxLinearVel
NJointTaskSpaceDMPControllerMode::CartesianSelection	mode
string	nodeSetName = ""
double	phaseDist0 = 50
double	phaseDist1 = 10
double	phaseK = 10
double	phaseKpOri = 0.1
double	phaseKpPos = 1
double	phaseL = 10
float	pos_filter
double	posToOriRatio = 100
double	tau = 1
string	tcpName = ""
double	timeDuration = 10
float	vel_filter

Data Member Documentation

debugName

string debugName

dmpAmplitude

double dmpAmplitude = 1

DMPKd

float DMPKd = 20

dmpMode

string dmpMode = "MinimumJerk"

dmpStyle

string dmpStyle = "Discrete"

frameName

string frameName = ""

Kd_AngularVel

float Kd_AngularVel

Kd_LinearVel

float Kd_LinearVel

kernelSize

int kernelSize = 100

Kp_AngularVel

float Kp_AngularVel

Kp_LinearVel

float Kp_LinearVel

maxAngularVel

double maxAngularVel

maxJointVelocity

double maxJointVelocity

maxLinearVel

double maxLinearVel

mode

NJointTaskSpaceDMPControllerMode::CartesianSelection mode

Initial value:

=
            NJointTaskSpaceDMPControllerMode::CartesianSelection::eAll

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

pos_filter

float pos_filter

posToOriRatio

double posToOriRatio = 100

tau

double tau = 1

tcpName

string tcpName = ""

timeDuration

double timeDuration = 10

vel_filter

float vel_filter

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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